i have continued with only one monitor for a few hours now including
some sleep and wake events with no issues.

adding the second monitor will cause the freezing behavior to return

more info on the diplays, gpu and drivers

lspci -nnk | grep -i vga -A3
00:02.0 VGA compatible controller [0300]: Intel Corporation Iris Plus Graphics 
G7 [8086:8a52] (rev 07)
        Subsystem: Dell Device [1028:08b0]
        Kernel driver in use: i915
        Kernel modules: i915


sudo hwinfo --monitor
32: None 00.0: 10002 LCD Monitor                                
  [Created at monitor.125]
  Unique ID: rdCR.cX4k4o0WO73
  Parent ID: _Znp.GEk+97+Mnh5
  Hardware Class: monitor
  Model: "DELL U2721DE"
  Vendor: DEL "DELL"
  Device: eisa 0x41e0 "DELL U2721DE"
  Serial ID: "BFM0R83"
  Resolution: 720x400@70Hz
  Resolution: 640x480@60Hz
  Resolution: 640x480@75Hz
  Resolution: 800x600@60Hz
  Resolution: 800x600@75Hz
  Resolution: 1024x768@60Hz
  Resolution: 1024x768@75Hz
  Resolution: 1280x1024@75Hz
  Resolution: 1152x864@75Hz
  Resolution: 1280x1024@60Hz
  Resolution: 1600x1200@60Hz
  Resolution: 1920x1080@60Hz
  Resolution: 2560x1440@60Hz
  Size: 597x336 mm
  Year of Manufacture: 2021
  Week of Manufacture: 11
  Detailed Timings #0:
     Resolution: 2560x1440
     Horizontal: 2560 2608 2640 2720 (+48 +80 +160) -hsync
       Vertical: 1440 1443 1448 1481 (+3 +8 +41) +vsync
    Frequencies: 241.50 MHz, 88.79 kHz, 59.95 Hz
  Driver Info #0:
    Max. Resolution: 2560x1440
    Vert. Sync Range: 56-76 Hz
    Hor. Sync Range: 30-90 kHz
    Bandwidth: 241 MHz
  Config Status: cfg=new, avail=yes, need=no, active=unknown
  Attached to: #25 (VGA compatible controller)

33: None 01.0: 10002 LCD Monitor
  [Created at monitor.125]
  Unique ID: wkFv.Nd1FTrf9+kC
  Parent ID: _Znp.GEk+97+Mnh5
  Hardware Class: monitor
  Model: "9G4X1 LQ134N1 LCD Monitor"
  Vendor: SHP "9G4X1 LQ134N1"
  Device: eisa 0x14af 
  Serial ID: "0"
  Resolution: 1920x1200@60Hz
  Size: 288x180 mm
  Year of Manufacture: 2018
  Week of Manufacture: 51
  Detailed Timings #0:
     Resolution: 1920x1200
     Horizontal: 1920 1968 2000 2080 (+48 +80 +160) -hsync
       Vertical: 1200 1203 1209 1235 (+3 +9 +35) -vsync
    Frequencies: 123.20 MHz, 59.23 kHz, 47.96 Hz
  Year of Manufacture: 2018
  Week of Manufacture: 51
  Detailed Timings #1:
     Resolution: 1920x1200
     Horizontal: 1920 1968 2000 2080 (+48 +80 +160) -hsync
       Vertical: 1200 1203 1209 1235 (+3 +9 +35) -vsync
    Frequencies: 154.00 MHz, 74.04 kHz, 59.95 Hz
  Config Status: cfg=new, avail=yes, need=no, active=unknown
  Attached to: #25 (VGA compatible controller)

34: None 02.0: 10002 LCD Monitor
  [Created at monitor.125]
  Unique ID: +rIN.9eXZOHf6DW9
  Parent ID: _Znp.GEk+97+Mnh5
  Hardware Class: monitor
  Model: "DELL U2421HE"
  Vendor: DEL "DELL"
  Device: eisa 0x41e2 "DELL U2421HE"
  Serial ID: "76P9023"
  Resolution: 720x400@70Hz
  Resolution: 640x480@60Hz
  Resolution: 640x480@75Hz
  Resolution: 800x600@60Hz
  Resolution: 800x600@75Hz
  Resolution: 1024x768@60Hz
  Resolution: 1024x768@75Hz
  Resolution: 1280x1024@75Hz
  Resolution: 1152x864@75Hz
  Resolution: 1280x1024@60Hz
  Resolution: 1600x900@60Hz
  Resolution: 1920x1080@60Hz
  Size: 527x296 mm
  Year of Manufacture: 2020
  Week of Manufacture: 35
  Detailed Timings #0:
     Resolution: 1920x1080
     Horizontal: 1920 2008 2052 2200 (+88 +132 +280) +hsync
       Vertical: 1080 1084 1089 1125 (+4 +9 +45) +vsync
    Frequencies: 148.50 MHz, 67.50 kHz, 60.00 Hz
  Driver Info #0:
    Max. Resolution: 1920x1080
    Vert. Sync Range: 56-76 Hz
    Hor. Sync Range: 30-90 kHz
    Bandwidth: 148 MHz
  Config Status: cfg=new, avail=yes, need=no, active=unknown
  Attached to: #25 (VGA compatible controller)

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https://bugs.launchpad.net/bugs/2141225

Title:
  Kernel panic when connecting USB-C Dell monitors on Ubuntu kernel
  6.17.0-14-generic

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