RDS Session Hosts sometimes need a scheduled reboot.  Its been the same for years, even with Citrix so in order to do this just create a custom Scheduled Task.

Open Task Scheduler.

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Click Create Task on the right hand side.

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Give it a name that will easily identify what the task is doing and change the User or Group to BUILTIN\Users then click OK.

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Click the Trigger tab and click New and schedule the reboot that is relevant to your environment.  Click OK once configured.

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Click the Action tab and click new and ensure the Start a Program option is selected for the action and type c:\Windows\System32\Shutdown /r /f /t 600

The options at the end are /r (restart) /f (force) /t 600 (time of 600 seconds.  Amend these as you see fit.

Do this for each of your RDS Session Hosts.  Or alternatively you could create a Group Policy preference and attach it to the OU in AD that contains all of your Session Hosts instead.