Since you're also seeing problems with Raspberry Pi OS, you should get
them involved as well [1]. They are in a much better position to track
this down with access to proprietary/technical data which we don't have.

FWIW, can you test this kernel: https://people.canonical.com/~juergh/lp2099935/
It extends PERST by 100ms, just a shot in the dark.

[1] https://forums.raspberrypi.com/viewforum.php?f=98

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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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