I just started experiencing this issue again, last week. Same hardware:
Precision 5520 with thunderbolt dock Dell TB-16. Kernel
5.11.0-22-generic on hirsute.

---8<---
Jun 27 14:53:11 vesho kernel: xhci_hcd 0000:0e:00.0: ERROR unknown event type 15
Jun 27 14:53:16 vesho kernel: xhci_hcd 0000:0e:00.0: xHCI host not responding 
to stop endpoint command.
Jun 27 14:53:16 vesho kernel: xhci_hcd 0000:0e:00.0: USBSTS:
Jun 27 14:53:16 vesho kernel: xhci_hcd 0000:0e:00.0: xHCI host controller not 
responding, assume dead
Jun 27 14:53:16 vesho kernel: xhci_hcd 0000:0e:00.0: HC died; cleaning up
Jun 27 14:53:16 vesho kernel: usb 3-1: USB disconnect, device number 2
Jun 27 14:53:16 vesho kernel: usb 3-1.1: USB disconnect, device number 3
Jun 27 14:53:16 vesho kernel: usb 3-1.1.1: USB disconnect, device number 5
Jun 27 14:53:16 vesho kernel: usb 3-1.1.1.4: USB disconnect, device number 7
Jun 27 14:53:16 vesho kernel: usb 4-1: USB disconnect, device number 2
Jun 27 14:53:16 vesho kernel: usb 4-1.1: USB disconnect, device number 3
Jun 27 14:53:16 vesho kernel: usb 4-1.2: USB disconnect, device number 4
Jun 27 14:53:16 vesho kernel: usb 3-1.1.4: USB disconnect, device number 6
Jun 27 14:53:16 vesho kernel: usb 3-1.1.5: USB disconnect, device number 9
Jun 27 14:53:16 vesho kernel: usb 3-1.5: USB disconnect, device number 4
Jun 27 14:53:16 vesho kernel: usb 3-1.6: USB disconnect, device number 8
Jun 27 14:53:16 vesho kernel: usb 3-1.6.4: USB disconnect, device number 10
Jun 27 14:53:16 vesho kernel: usb 3-1.6.5: USB disconnect, device number 11
---8<---

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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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