Random relay clicking issue

I have a marantz 6010 with a relay that clicks randomly. More when I initially turn it on then seems to stop once I have been using the system. Some clicks are fast and in multiples some are just a single click. The weird thing is everything seems to work normally when the clicks occure . I’m using a marantz 7055 for my main and center channels. The rear channels are off of the 6010. Also I’ve noticed that sometimes I can make the relay click by touching the rca terminals or wiggle the hdmi connections. Again nothing seems be effected when this happens.