could not open relation with OID

We do a lot of queries per day, over a lot of hosts, all of which are on
12.9. We've recently started doing a better job at analyzing our db logs
and have found that, a few times a day, every day, we see some of our
queries fail with errors like:

could not open relation with OID 201940279

In the cases we've examined so far, the failed query succeeds just fine
when we run it manually. The failed query also had run on an async
streaming replica, and the primary has completed at least one autovacuum
since the failure. I don't know if either of those two facts are
relevant, but I'm not sure what else to blame. The internet seems to
want to blame issues like this on temp tables, which makes sense, but in
our case, most of the queries that are failing this way are simple PK
scans, which then fall back to the table to pull all the columns. The
tables themselves are small in row count - although some values are
likely TOASTed - so I would be surprised if anything is spilling to disk
for sorting, which might have counted as a temp table enough to give
such an error.

This is a minuscule failure percentage, so replicating it is going to be
hard, but it is still breaking for reasons I don't understand, and so
I'd like to fix it. Has anybody else seen this, or have an ideas of what
to look at?

Other things we've considered:
    - we run pg_repack, which certainly seems like it could make an
error like this, but we see this error in places and times that
pg_repack isn't currently running
    - although all our servers are currently on 12.9, I don't think
this is a new error for us. I believe we might have seen it on previous
minor versions of 12 and probably on 9.5 as well.
    - our filesystem is xfs and seems reliable. I would expect that if
it was a filesystem level error, it would not be so transient. We do,
occasionally, expand our filesystems, but not at all the times we've
seen this error.