I found two options in QEMU that solve this problem: adding
'streams=on,command_serr_enable=on' to the qemu-xhci (as -device qemu-
xhci,streams=on,command_serr_enable=on) will make the USB devices not
reset on boot, so it's possible to use live USBs on a QEMU guest
correctly.

I'm not aware of negative impacts these options have on guests as, so
far, I noticed nothing wrong with the guests or the USB devices after
using them.

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https://bugs.launchpad.net/bugs/1903857

Title:
  USB devices reset on guest boot, causing boot failures if USB device
  is the boot device

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