Pumps stop working randomly

Ever since I’ve had the Rachio I’ve found that different pumps seem to think they’ve run but they have not. The only way I find this out is as the grass begins to look unwatered or testing the units. The problem goes away then its fine for weeks or months then happens again in a different pump or section of the property. Checked all wires, there is a signal. Checked the pumps. Nothing different. Anyone have something similar? Is the Rachio sending out too low of a signal to activate the solenoids?

I do not have a pump for running the sprinklers, but one for a water feature, which I have not had that kind of issue. I presume you have a relay that takes the 24VAC to start & run the pump at 120/240VAC? Do you know how many amps are required for the replay / pump?