Thanks for the helpful link. I tested the kernel v4.11 and this fixes the 
issue. Now, the Display is also running at 60 Hz (not 30 as it was before).
There are still some minor errors in kernel.log when plugging In/Out but 
everything seems to work.

** Attachment added: "Kernel Logs - fixed"
   
https://bugs.launchpad.net/ubuntu/+source/linux/+bug/1687397/+attachment/4871538/+files/Fixed.log

** Tags added: kernel-fixed-upstream

** Changed in: linux (Ubuntu)
       Status: Incomplete => Confirmed

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https://bugs.launchpad.net/bugs/1687397

Title:
  Kernel freeze when plugging in external monitor via USB-C->DP-Adapter

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