If someone else has those issues with a USB-C Dock (Thunderbolt 3) I got rid of 
the issue by using the latest mainline Kernel:
 5.1.0-050100-generic #201905052130 SMP Mon May 6 01:32:59 UTC 2019 x86_64 
x86_64 x86_64 GNU/Linux
and the following Kernel config settings (/etc/default/grub):

GRUB_CMDLINE_LINUX_DEFAULT=".... quiet splash intel_idle.max_cstate=4
i915.enable_psr=0 i915.enable_dc=0 i915.enable_fbc=0
i915.enable_dp_mst=0"

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https://bugs.launchpad.net/bugs/1550779

Title:
  [drm:intel_cpu_fifo_underrun_irq_handler [i915]] *ERROR* CPU pipe A
  FIFO underrun

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