There might be multiple issues. One seems to be UAS and/or SCSI pass-
through related. From your dmesg, this looks interesting:

[ 2638.936483] usb 2-1.4.3: reset SuperSpeed Gen 1 USB device number 10 using 
xhci_hcd
[ 2638.960797] program smartctl is using a deprecated SCSI ioctl, please 
convert it to SG_IO

I believe 2-1.4.3 is your ASMT (asmedia) device. What exactly is that?
That reset could have been a result of a smartd poke (you're running
smartd, right?) and might cause additional problems down the line. Can
you decrease the smartd interval to check if the problem shows up
earlier? Kill the smartd daemon and run it manually like: smartd -d -i
15.

Regarding USB2: The USB2 and USB3 controllers are completely different.
USB2 is part of the SoC whereas USB3 is a PCIe attached dedicated
controller. Different drivers and obviously lots of other differences.

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

Title:
  Raspberry pi 4 USB controller randomly crashes

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