Yes, this is normal. If indeed you have an asymptomatic hernia (and not a groin strain or something else), then apparently you have one that spontaneously “reduces”, i.e. “goes back in.” Not uncommon at all.
If you think this is the problem, you should make an appointment with a general surgeon. If you are just going to your PCP for routine checkups and they are failing to find a hernia on their exam, that’s no reason not to get evaluated by a surgeon.