EASY to memorize numbers
05AB1E, 11 bytes

žh.r3£ûÁÂ)Ω


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Explanation

žh            # push "0123456789"
  .r          # random shuffle
    3£        # take the first 3
              # EX: 152
      û       # palendromize
              # EX: 15251
       Á      # rotate right
              # EX: 11525
        Â)    # pair with its reverse
              # EX: [11525, 52511]
          Ω   # pick one at random