Does this bug happen for people after a USB drive has spun down and the
computer tries to access it? My USB freezing issue goes away if I
disable UAS for a particular drive. It works fine with UAS until it
spins down but the USB subsystem freezes when it tries to spin it up,
requiring me to reboot the PC and power cycle the drive.

To disable UAS for the drive, first find its identifier with the lsbusb
command. For example mine looks like this, ie with identifier 1058:1230:

Bus 002 Device 003: ID 1058:1230 Western Digital Technologies, Inc. My
Book

Add a file like /etc/modprobe.d/usb_storage.conf with the contents and
the appropriate identifier:

options usb_storage quirks=1058:1230:u

and run "sudo update-initramfs -u -k all" and reboot.

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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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