I used to run into this regularly before and just recently ran into it
again with the TB16. Previously I had the same issue with a different
USB hub without a dock, occurring both on Windows and Linux Dell 5520
and Dell XPS 9560. Without the dock both systems were able to recover.
With the dock, only Windows recovers successfully.

I believe this is related to USB bandwidth exhaustion triggering a reset
in some edge case. Windows recovers from this after a bit even with the
dock, whereas on Linux having it occur with the dock in the chain seems
to be preventing recovery.

The issue is that with the dock and a daisy-chained USB hub you end up
with too much stuff hanging off a single wire or possibly a single
controller. It could be about power draw, heat, 5 Gigs of USB3 not being
able to fit more than a single 480 Mbit USB2 bus, or that even the 5
Gigs are actually getting saturated.

The reset will only occur sporadically when all USB devices happen to be
under heavy load at the same instant.

Attached the lsusb output from the USB-heavy XPS 9560+TB16 setup that
triggers this every 20 minutes when actively using ethernet, audio
interfaces, the USB3 NVME SSD and the Android device in an IDE.

** Attachment added: "lsusb.log"
   
https://bugs.launchpad.net/ubuntu/+source/linux/+bug/1766076/+attachment/5427600/+files/lsusb.log

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https://bugs.launchpad.net/bugs/1766076

Title:
  USB over thunderbolt turns off every once in a while

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