I have also experienced this. I'll f4 to exit or exit from the menu and it will take me back to a blank black screen. If i type "emulationstation" and enter it will bring me back to emulationstation so the welcome screen is still there just not visible for whatever reason. If I restart and f4 again sometimes it will work sometimes it wont. It is very intermittent.
Im currently on a rpi3 , 4.2.8, built from image from this site.