I know this is an old post, but I thought I would share my two cents about what I know about this very situation.
I had this exact same problem, dell xps 8700 16 gb of ram, terabyte hardrive, Windows 10 pro. One random day I tried restarting my pc and noticed that it didnt make its usual 'beep' when it loaded past the dell splash screen. I ignored as I thought it was just being slow but, when I returned to it an hour or so later it still showed the dell logo!! Not even the pinwheel below it. It was completely unresponsive and had to be shut down forcefully by holding down the power button, when it powered up, it booted normally. I tried several other occasions, all with the same result. I couldn't figure this out for the longest time and it infuriated me because I was constantly having the need to restart due to updating and uninstalling applications. I researched heavily and tried everything under the sun, reconfiguring cmos settings, boot settings, trying safe boot options, debugging tests, unplugging everything except mouse keyboard and monitor plugs, reseating all components, even the cpu and motherboard battery. No luck, I did get a good feel for my situation however, after I was able to plug in an old hardrive I had with Windows 8.1 on it and boot my computer once more, it did the exact same thing. I was releaved to know that it wasn't a hardrive issue and, soon, I found my answer.
As that pure coincidental luck would have it, I made a restore point before installing a program in order to find out how the "create a restore point" in Windows ten worked. I installed then reverted back to the point I made 5 minutes before. And as expected it hung up when it restarted the computer after completing the restore.
Well, for whatever reason I tried it one more time, installing a random program after creating a restore point then reverting. But what happened this time amazed me. It went through with the boot up! It beeped and the pinwheel began.
Now, I have absolutely no clue why it did it, how it did it, or when it fixed the problem, but that's how my reboot error got fixed. Now it's a happy computer that beeps to its own content when it restarts.