It is not common to restart SQL Server - this should never be necessary to get your object updates.
If object changes don't get to the RTC, it means there's something wrong with your object listener, and you should check that.. .
It's a good practise to indeed Stop-and-start instead of "Restart" a service. I also noticed different behaviour in that .. strangely enough :-/.
and also a tip I would like to give: clear the "Object Tracking" table before you stop-and-start the NST service. In some cases, the NST gets wrong timestamps, which makes the object-update misbehave as well.. .
hope