Could be related but i have different symptoms. I can still reboot the
pi and nothing hangs (except IO to the disconnected drives of course).

I have tried more things to debug this. It seems that on raspi-os with
the same setup the USB controller does not crash but some seagate drives
still disconnect randomly. They keep spinning up and disconnecting after
that. Only fix is a reboot.

It also happens less frequently on USB2. I don't get why. Sound like a
thermal issue to me, but i also have a fan in place for the external
HDDs. My second guess would be power supply, but i have a 5A one
connected to the hub, and it's only the seagate drives that disconnect.

Anyway, while using raspi-os still does not solve my problem it at least does 
not crash the USB controller. 
Maybe ubuntu needs to update the raspi firmware or kernel to also get this 
behaviour?

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https://bugs.launchpad.net/bugs/1930629

Title:
  Raspberry pi 4 USB controller randomly crashes

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