Yes, relatively frequently, and also only with the Intel VGA driver. However, I'm still running the Windows 8 driver because the Windows 10 Intel VGA driver from the Asus Support website won't install on my system, likely because it's designed for Skylake and I'm running Broadwell. All other Windows 10 drivers installed without a problem.
I'm going to try installing the VGA driver directly from Intel and see if that fixes the problem.