That is a 20 gallon tank that only holds 5 gallons of water. So the pump has to cycle on and off for every 5 gallons used. The pump has been cycling like that for long enough that the motor is now damaged and tripping the overload. These overloads are in the motor, and will automatically re-set themselves in a few minutes. That is why it comes on randomly.
You could also have a bad starting capacitor and/or relay in the control box. All of these things are caused by the pump cycling on and off too much. You either need a pressure tank about 4-5 times that size, or a Cycle Stop Valve to stop the cycling. With the Cycle Stop Valve that 20 gallon tank is plenty large enough, as even a 4.5 gallon size tank would work.