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Most people have this problem when they turn the key and energize the relay and it sticks and doesn't disengage when they release the key. I would be wondering why it randomly decided to engage and stick.

I am having trouble understanding how you drove 30 miles with a stuck starter relay. Or did you kill it and restart it when you got home? I would look to other causes if the starter suddenly re engaged on its own at the end of the trip.