Is it possible that the issue might be related to the hardware watchdog
timer? I note the following lines in the dmesg output:

[    2.214004] bcm2835-wdt bcm2835-wdt: Broadcom BCM2835 watchdog timer
[    2.288820] watchdog: Delayed init of the lockup detector failed: -19
[    2.295372] watchdog: Hard watchdog permanently disabled

Is this expected output for a CM4? I've tried researching how to enable
it but am a little out of my depth.

cat /boot/config-$(uname -r) | grep BCM2835_WDT
CONFIG_BCM2835_WDT=y

This suggests the BCM2835 support is compiled into the kernel.

Are there any other configuration items I can modify to properly enable
the hard watchdog?

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https://bugs.launchpad.net/bugs/2099935

Title:
  PCI initialization failure following kernel panic reboot on Raspberry
  Pi CM4

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