I went to leave a friends house last night, pulled the light switch, no headlights. Drove about 2-3 miles, and they came on. Dimmer switch? Headlight switch in the dash?

Its the Headlight switch

It could be the wiper switch /hi/low beam switch ... try clicking the hi beams on and off and hold it / keep it pulled back and see if the lights stay on or flicker on and off .

The headlamps in my 97 Ram SST would shut off every time I tilted the steering column down. It was once repaired while still under warranty but started acting up again when the warranty expired. I found that the headlamp wire going into the directional/hi beam switch would pull itself out when tilted down & then plug itself back in when tilted back up. I wound up splicing in a new wire because the old one would not "snap" in place & stay connected.
-Lou

Check the plug at the H/L switch also.

The one on my 98 was melted to the point that it wouldn't make contact at the switch.

on my '95 Dakota, new headlight switch + old overheated harness = another burned up headlight switch. Both switch and plug need to be replaced if they got really hot.