I think you are right about being able to unstuck the relay. I turned the heat down by about 20 degrees, so in theory, the heater will not have to activate. If it doesn't fault until it falls below the set temp then this pinpoints the relay or the temp sensor, I believe.
If it is the relay that is getting stuck, and it 'stuck' mechanically, I'm not sure I understand how either resetting the breaker or simply pressing the temp button to clear the OH code will fix a mechanically 'stuck' part. If it responded to the button, that would suggest that it works pretty well? Although, I have not been listening for a 'click' sound. And, one time (out of 10 or so), pressing the temp button did not clear the OH code immediately, so that may suggest it was stuck in that instance.
Thanks for all your help!