I have a very similar issue with a WD19TB under Ubuntu 20.04 (Dell
Latitude 5410) and desperately browsing the net, looking for solutions.

Everything works fine until I resume from suspend. Then all USB devices
connected to the dock start having failures (like missing key presses
for the keyboard, mouse becoming sluggish until the device is
disconnected, or sound becoming bad, also I suspect the ethernet port of
the dock doesn't work well anymore).

This is most likely *not* a thunderbolt authorization issue (I tried all
the security modes: no security/user based/key based, all show the same
behavior), which is a definite difference with many reports I found here
and there (and makes it hard to find the same exact one as the one I
have).

The present issues description from the opener seems close enough,
including dmesg output (although the opener had a Dell 16TB dock).

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https://bugs.launchpad.net/bugs/1766076

Title:
  USB over thunderbolt turns off every once in a while

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