This issue still exists on 
Laptop: Macbook Pro 11,1 (2014 13" model)
Ubuntu: Yakkety (16.10)
Kernel: Linux version 4.8.0-41-generic (buildd@lgw01-18)

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https://bugs.launchpad.net/bugs/1413440

Title:
  USB stops working after a while (xhci_hcd 0000:00:14.0: Timeout while
  waiting for setup device command)

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