Anything is possible so restoring FW is worth the try, just don't be too hopeful on the outcome..
Other things you can try, just to troubleshoot a little more could include the following, not in any particular order:
a) When the fault happens, measure the pre out voltage and see what's happening, obviously you need a multi tester for that.
b) Try another external amp that you know for sure is working perfectly.
c) Try a different interconnect cable that you are sure working perfectly.
If I understood right, you had already disconnected the external amp and is now using the Denon's amps that are working fine. So the troubleshooting steps above are something that I would do for sure, even just to satisfy curiosity.
Q:
1) When you lost the FL/FR pre out did both channel went silent all of a sudden, or there were some other tell tale things?
2) Did you try turning if off, unplugged the power cord and then restart the unit to see if it cleared the problem?
3) Right after you do your last hard reset, I assume you meant microprocessors reset/reset to factory default conditions, did the unit work perfectly again right after, and that the same intermittent fault only came back later, like shortly after, of long after?
4) If you hook the ext. amp back on, but still have the Denon's amps connected and the speakers connected to the ext. amp, would you still get the intermittent fault?
I think 4) is important to know, if the problem goes away then you know (99% certainty) the AVR is not the problem.
Intermittent faults are often caused by connections issues, the fact that the unit is working fine with the Denon's own power amps, would indicate that there are
no parts/hardware failure, not likely anyway; and software/FW related troubles are, while possible, highly unlikely. So I highly suspect it is a connection related issue. If it is intermittent, it is not easy to find so if warranty has already expired, you should contact Denon and see if they would agree to still take it in or warranty (they may agree to do it if it has only recently expired), and if not then it may be better to wait until the issue became permanent before sending it out. That would be another reason to do more troubleshoot now as suggested above.