This issue persists in Ubuntu 21.10.
My external USB drives get disconnected randomly.

Setting "XHCI Hand-off" in BIOS to Disabled *SOLVED* this problem for me.
It seems kernel/Ubuntu fails to handle USB properly when given control over it 
by BIOS.

My kernel log:

Apr 22 23:57:43 phd kernel: usb 2-4: USB disconnect, device number 4
Apr 22 23:57:43 phd kernel: sd 7:0:0:0: [sde] Synchronizing SCSI cache
Apr 22 23:57:43 phd kernel: sd 7:0:0:0: [sde] Synchronize Cache(10) failed: 
Result: hostbyte=DID_NO_CONNECT driverbyte=DRIVER_OK
Apr 22 23:57:44 phd kernel: usb 2-4: new SuperSpeed USB device number 5 using 
xhci_hcd
Apr 22 23:57:44 phd kernel: usb 2-4: New USB device found, idVendor=0000, 
idProduct=0000, bcdDevice= 1.44
Apr 22 23:57:44 phd kernel: usb 2-4: New USB device strings: Mfr=1, Product=2, 
SerialNumber=3
Apr 22 23:57:44 phd kernel: usb 2-4: Product: USB 3.0
Apr 22 23:57:44 phd kernel: usb 2-4: Manufacturer: KESU
Apr 22 23:57:44 phd kernel: usb 2-4: SerialNumber: 000000128453
Apr 22 23:57:44 phd kernel: usb-storage 2-4:1.0: USB Mass Storage device 
detected
Apr 22 23:57:44 phd kernel: scsi host8: usb-storage 2-4:1.0
Apr 22 23:57:45 phd kernel: scsi 8:0:0:0: Direct-Access     KESU     USB 3.0    
      2210 PQ: 0 ANSI: 6
Apr 22 23:57:45 phd kernel: sd 8:0:0:0: Attached scsi generic sg5 type 0
Apr 22 23:57:45 phd kernel: sd 8:0:0:0: [sdf] 976773164 512-byte logical 
blocks: (500 GB/466 GiB)
Apr 22 23:57:45 phd kernel: sd 8:0:0:0: [sdf] Write Protect is off
Apr 22 23:57:45 phd kernel: sd 8:0:0:0: [sdf] Mode Sense: 2f 00 00 00
Apr 22 23:57:45 phd kernel: sd 8:0:0:0: [sdf] Write cache: enabled, read cache: 
enabled, doesn't support DPO or FUA
Apr 22 23:57:45 phd kernel: sdf: sdf1
Apr 22 23:57:45 phd kernel: sd 8:0:0:0: [sdf] Attached SCSI disk

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https://bugs.launchpad.net/bugs/1908894

Title:
  USB controllers disconnects after random time

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