I can confirm this issue in 20.04 linux-image-5.4.0-42. This message
only appear for my usb3.1 gen1 type-c hub when it is connected on boot.
If I re-plug the hub after boot, the message stops. It doesn't appear
for another connected usb3 type-a hub.

In /var/log/syslog, it prints every 4 seconds:

Aug  3 01:57:37 fox kernel: [ 6020.600964] usb usb2-port2: Cannot enable. Maybe 
the USB cable is bad?
Aug  3 01:57:41 fox kernel: [ 6024.672925] usb usb2-port2: Cannot enable. Maybe 
the USB cable is bad?
Aug  3 01:57:45 fox kernel: [ 6028.744888] usb usb2-port2: Cannot enable. Maybe 
the USB cable is bad?
Aug  3 01:57:49 fox kernel: [ 6032.816854] usb usb2-port2: Cannot enable. Maybe 
the USB cable is bad?

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https://bugs.launchpad.net/bugs/1856608

Title:
  [Regression] usb usb2-port2: Cannot enable. Maybe the USB cable is
  bad?

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