I tested with https://kernel.ubuntu.com/~kernel-
ppa/mainline/v5.12/amd64/ for a few (5-6) hours (sorry I don't use
desktop linux much at all now days), dmesg is still full of errors like
these:

[ 2852.594018] xhci_hcd 0000:3c:00.0: ERROR Transfer event TRB DMA ptr not part 
of current TD ep_index 1 comp_code 1
[ 2852.594051] xhci_hcd 0000:3c:00.0: Looking for event-dma 00000001ed2ad1d0 
trb-start 00000001ed2ad1e0 trb-end 00000001ed2ad1e0 seg-start 00000001ed2ad000 
seg-end 00000001ed2adff0
[ 2854.671891] usb 5-2.4.1: reset full-speed USB device number 8 using xhci_hcd

So far it did not drop the usb controller, so that's good. 5-2.4.1 is a
wireless receiver for my mouse, if I plug it in directly to the machine
it does not throw this error, but in the dock this message occurs every
few minutes. It was plugged into the same physical port when I used the
previous kernel and this error message did not occur.

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https://bugs.launchpad.net/bugs/1921643

Title:
  Thunderbolt docking station drops USB

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