I guess it worth updating your BIOS to the latest version.
According to the details above you have Ver. 02.06.03, while in HP site I can 
find Ver 02.07.00
The release notes there mention several fixes for the handling of USB-C ports.

(I hope there is an easy way to do so on Linux. Hopefully it's available
from fwupd :) )

https://support.hp.com/us-en/drivers/selfservice/hp-elitedesk-800-65w-g4
-desktop-mini-pc/21353734

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https://bugs.launchpad.net/bugs/1830930

Title:
  USB 3 devices are not detected on thunderbolt 3

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