I believe this is fixed in Focal. Can you check if this is still an
issue for you with a current image from
http://cdimage.ubuntu.com/releases/20.04/release/?

After rebooting a Pi running a current Focal image I get (on the
connected host):

May 15 15:28:51 smeagol kernel: [ 3824.785702] usb 1-2: new high-speed USB 
device number 28 using xhci_hcd
May 15 15:28:56 smeagol kernel: [ 3829.845566] xhci_hcd 0000:00:14.0: Timeout 
while waiting for setup device command
May 15 15:29:02 smeagol kernel: [ 3835.221286] xhci_hcd 0000:00:14.0: Timeout 
while waiting for setup device command
May 15 15:29:02 smeagol kernel: [ 3835.429202] usb 1-2: device not accepting 
address 28, error -62
May 15 15:29:02 smeagol kernel: [ 3835.557210] usb 1-2: new high-speed USB 
device number 29 using xhci_hcd
May 15 15:29:07 smeagol kernel: [ 3840.597042] xhci_hcd 0000:00:14.0: Timeout 
while waiting for setup device command
May 15 15:29:12 smeagol kernel: [ 3845.972785] xhci_hcd 0000:00:14.0: Timeout 
while waiting for setup device command
May 15 15:29:13 smeagol kernel: [ 3846.180713] usb 1-2: device not accepting 
address 29, error -62
May 15 15:29:13 smeagol kernel: [ 3846.180894] usb usb1-port2: attempt power 
cycle
May 15 15:29:13 smeagol kernel: [ 3846.832715] usb 1-2: new high-speed USB 
device number 30 using xhci_hcd
May 15 15:29:18 smeagol kernel: [ 3851.988499] usb 1-2: device descriptor 
read/64, error -110
May 15 15:29:34 smeagol kernel: [ 3867.603793] usb 1-2: device descriptor 
read/64, error -110
May 15 15:29:34 smeagol kernel: [ 3867.839763] usb 1-2: new high-speed USB 
device number 31 using xhci_hcd
May 15 15:29:39 smeagol kernel: [ 3872.979541] usb 1-2: device descriptor 
read/64, error -110


And after loading g_{cdc,ether} on the Pi:

May 15 15:29:55 smeagol kernel: [ 3888.702904] usb usb1-port2: unable to 
enumerate USB device
May 15 15:30:22 smeagol kernel: [ 3915.165600] usb 1-2: new high-speed USB 
device number 32 using xhci_hcd
May 15 15:30:22 smeagol kernel: [ 3915.186797] usb 1-2: New USB device found, 
idVendor=0525, idProduct=a4a2, bcdDevice= 5.04
May 15 15:30:22 smeagol kernel: [ 3915.186805] usb 1-2: New USB device strings: 
Mfr=1, Product=2, SerialNumber=0
May 15 15:30:22 smeagol kernel: [ 3915.186811] usb 1-2: Product: RNDIS/Ethernet 
Gadget
May 15 15:30:22 smeagol kernel: [ 3915.186815] usb 1-2: Manufacturer: Linux 
5.4.0-1010-raspi with fe980000.usb
May 15 15:30:22 smeagol kernel: [ 3915.192463] cdc_ether 1-2:1.0 usb0: register 
'cdc_ether' at usb-0000:00:14.0-2, CDC Ethernet Device, a6:b3:33:a5:9e:5c
May 15 15:30:22 smeagol kernel: [ 3915.225267] cdc_ether 1-2:1.0 
enxa6b333a59e5c: renamed from usb0


And the connected host reports:
$ lsusb 
<SNIP>
Bus 001 Device 032: ID 0525:a4a2 Netchip Technology, Inc. Linux-USB 
Ethernet/RNDIS Gadget
<SNIP>

So from my POV this looks as good as it gets. Please confirm.

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Title:
  g_ether not working after reboot

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