It just occurred to me that the first character for both verb types is seemingly opposite of what they represent. Transitive verbs indicate that an object that is the direct object of something, or someone yet it uses 他 (other), and Intransitive verbs having no direct object use 自 (oneself). It seems to me that they would be easier to remember if the they swapped that first character.
Perhaps I am misunderstanding something. If someone can explain why they use the characters they do I would appreciate it.