Good
You need to check three areas, for your car is being controlled electrically.
1. If your 12volt battery is losing amphere, this tends to happen.
2. If the system is low on AC gas, you might witness such a scenerio.
3. Lastly, the culprit most times is the AC cooling but radiator fan.
Once the coil brushes are getting exhausted, the fan keeps cutting off or limiting its efficiency and which eventually triggers automatic stoppage of the compressor. This is very important in order to guide the compressor from excessive heat and concomitant in-flammation .
Best wishes (06 hybrid highlander)