I recently got an RPi4 for a project at home and had the same error.

On Tue, Nov 02, 2021 at 02:09:29PM +0000, Klemens Nanni wrote:
| After reading through openbsd-arm after sthen's suggestion I only tried
| u-boot.bin from 6.9-release* and that lets 7.0-current xhci(4) attach.
| 
| *     U-Boot 2021.01 (Apr 16 2021 - 15:39:01 +1000)

I tried the version from the latest u-boot pkg, but that didn't solve
the xhci issue.  I ended up using the UEFI firmware (v1.32) from
https://github.com/pftf/RPi4 (found via the arm64 installation
instructions); with that, xhci works and USB devices behind it are
found and work (I tested with a ugold(4) temperature and humidity
sensor).

With UEFI, available memory went from 4GB to 3GB (not a blocker for
me) and bwfm(4) stopped working with this complaint:

bwfm0: failed loadfirmware of file brcmfmac43455-sdio.openbsd,acpi.txt

Linking brcmfmac43455-sdio.raspberrypi,4-model-b.txt (which is what is
used with u-boot, I believe) to this name in /etc/firmware fixed bwfm0
for me (although performance isn't great, but that's also the case
when using u-boot).

dmesg for u-boot and uefi below.

Paul

--- u-boot dmesg -----------------------------------------------------
OpenBSD 7.0-current (GENERIC.MP) #1374: Wed Nov  3 15:40:43 MDT 2021
    [email protected]:/usr/src/sys/arch/arm64/compile/GENERIC.MP
real mem  = 4124905472 (3933MB)
avail mem = 3965665280 (3781MB)
random: good seed from bootblocks
mainbus0 at root: Raspberry Pi 4 Model B Rev 1.4
cpu0 at mainbus0 mpidr 0: ARM Cortex-A72 r0p3
cpu0: 48KB 64b/line 3-way L1 PIPT I-cache, 32KB 64b/line 2-way L1 D-cache
cpu0: 1024KB 64b/line 16-way L2 cache
cpu0: CRC32,ASID16
cpu1 at mainbus0 mpidr 1: ARM Cortex-A72 r0p3
cpu1: 48KB 64b/line 3-way L1 PIPT I-cache, 32KB 64b/line 2-way L1 D-cache
cpu1: 1024KB 64b/line 16-way L2 cache
cpu1: CRC32,ASID16
cpu2 at mainbus0 mpidr 2: ARM Cortex-A72 r0p3
cpu2: 48KB 64b/line 3-way L1 PIPT I-cache, 32KB 64b/line 2-way L1 D-cache
cpu2: 1024KB 64b/line 16-way L2 cache
cpu2: CRC32,ASID16
cpu3 at mainbus0 mpidr 3: ARM Cortex-A72 r0p3
cpu3: 48KB 64b/line 3-way L1 PIPT I-cache, 32KB 64b/line 2-way L1 D-cache
cpu3: 1024KB 64b/line 16-way L2 cache
cpu3: CRC32,ASID16
efi0 at mainbus0: UEFI 2.8
efi0: Das U-Boot rev 0x20211000
apm0 at mainbus0
"system" at mainbus0 not configured
"axi" at mainbus0 not configured
simplebus0 at mainbus0: "soc"
bcmclock0 at simplebus0
bcmmbox0 at simplebus0
bcmgpio0 at simplebus0
bcmaux0 at simplebus0
ampintc0 at simplebus0 nirq 256, ncpu 4 ipi: 0, 1: "interrupt-controller"
bcmtmon0 at simplebus0
bcmdmac0 at simplebus0: DMA0 DMA2 DMA4 DMA5 DMA6 DMA7 DMA8 DMA9
"timer" at simplebus0 not configured
pluart0 at simplebus0: console
"local_intc" at simplebus0 not configured
bcmdog0 at simplebus0
bcmirng0 at simplebus0
"firmware" at simplebus0 not configured
"power" at simplebus0 not configured
"mailbox" at simplebus0 not configured
sdhc0 at simplebus0
sdhc0: SDHC 3.0, 250 MHz base clock
sdmmc0 at sdhc0: 4-bit, sd high-speed, mmc high-speed
"gpiomem" at simplebus0 not configured
"fb" at simplebus0 not configured
"vcsm" at simplebus0 not configured
"clocks" at mainbus0 not configured
"phy" at mainbus0 not configured
"clk-27M" at mainbus0 not configured
"clk-108M" at mainbus0 not configured
simplebus1 at mainbus0: "emmc2bus"
sdhc1 at simplebus1
sdhc1: SDHC 3.0, 100 MHz base clock
sdmmc1 at sdhc1: 8-bit, sd high-speed, mmc high-speed, ddr52, dma
"arm-pmu" at mainbus0 not configured
agtimer0 at mainbus0: 54000 kHz
simplebus2 at mainbus0: "scb"
bcmpcie0 at simplebus2
pci0 at bcmpcie0
ppb0 at pci0 dev 0 function 0 "Broadcom BCM2711" rev 0x20
pci1 at ppb0 bus 1
"VIA VL805 xHCI" rev 0x01 at pci1 dev 0 function 0 not configured
bse0 at simplebus2: address e4:5f:01:5c:a2:d1
brgphy0 at bse0 phy 1: BCM54210E 10/100/1000baseT PHY, rev. 2
"dma" at simplebus2 not configured
"hevc-decoder" at simplebus2 not configured
"rpivid-local-intc" at simplebus2 not configured
"h264-decoder" at simplebus2 not configured
"vp9-decoder" at simplebus2 not configured
gpioleds0 at mainbus0: no LEDs
"sd_io_1v8_reg" at mainbus0 not configured
"sd_vcc_reg" at mainbus0 not configured
"fixedregulator_3v3" at mainbus0 not configured
"fixedregulator_5v0" at mainbus0 not configured
simplebus3 at mainbus0: "v3dbus"
"bootloader" at mainbus0 not configured
dt: 445 probes
scsibus0 at sdmmc1: 2 targets, initiator 0
sd0 at scsibus0 targ 1 lun 0: <SD/MMC, USDU1, 0020> removable
sd0: 29492MB, 512 bytes/sector, 60399616 sectors
bwfm0 at sdmmc0 function 1
manufacturer 0x02d0, product 0xa9a6 at sdmmc0 function 2 not configured
manufacturer 0x02d0, product 0xa9a6 at sdmmc0 function 3 not configured
vscsi0 at root
scsibus1 at vscsi0: 256 targets
softraid0 at root
scsibus2 at softraid0: 256 targets
root on sd0a (c36da6214101b146.a) swap on sd0b dump on sd0b
WARNING: CHECK AND RESET THE DATE!
gpio0 at bcmgpio0: 58 pins
bwfm0: address e4:5f:01:5c:a2:d2
----------------------------------------------------------------------

--- uefi dmesg -------------------------------------------------------
OpenBSD 7.0-current (GENERIC.MP) #1374: Wed Nov  3 15:40:43 MDT 2021
    [email protected]:/usr/src/sys/arch/arm64/compile/GENERIC.MP
real mem  = 3129176064 (2984MB)
avail mem = 3000582144 (2861MB)
random: good seed from bootblocks
mainbus0 at root: ACPI
psci0 at mainbus0: PSCI 1.1, SMCCC 1.2
cpu0 at mainbus0 mpidr 0: ARM Cortex-A72 r0p3
cpu0: 48KB 64b/line 3-way L1 PIPT I-cache, 32KB 64b/line 2-way L1 D-cache
cpu0: 1024KB 64b/line 16-way L2 cache
cpu0: CRC32,ASID16
cpu1 at mainbus0 mpidr 1: ARM Cortex-A72 r0p3
cpu1: 48KB 64b/line 3-way L1 PIPT I-cache, 32KB 64b/line 2-way L1 D-cache
cpu1: 1024KB 64b/line 16-way L2 cache
cpu1: CRC32,ASID16
cpu2 at mainbus0 mpidr 2: ARM Cortex-A72 r0p3
cpu2: 48KB 64b/line 3-way L1 PIPT I-cache, 32KB 64b/line 2-way L1 D-cache
cpu2: 1024KB 64b/line 16-way L2 cache
cpu2: CRC32,ASID16
cpu3 at mainbus0 mpidr 3: ARM Cortex-A72 r0p3
cpu3: 48KB 64b/line 3-way L1 PIPT I-cache, 32KB 64b/line 2-way L1 D-cache
cpu3: 1024KB 64b/line 16-way L2 cache
cpu3: CRC32,ASID16
efi0 at mainbus0: UEFI 2.7
efi0: https://github.com/pftf/RPi4 rev 0x10000
smbios0 at efi0: SMBIOS 3.3.0
smbios0: vendor https://github.com/pftf/RPi4 version "UEFI Firmware v1.32" date 
10/19/2021
smbios0: Raspberry Pi Foundation Raspberry Pi 4 Model B
apm0 at mainbus0
ampintc0 at mainbus0 nirq 256, ncpu 4 ipi: 0, 1: "interrupt-controller"
agtimer0 at mainbus0: 54000 kHz
acpi0 at mainbus0: ACPI 6.3
acpi0: sleep states
acpi0: tables DSDT FACP CSRT DBG2 GTDT APIC PPTT SPCR SSDT SSDT
acpi0: wakeup devices
"BCM2849" at acpi0 not configured
"BCM2835" at acpi0 not configured
"BCM2854" at acpi0 not configured
"ACPI0007" at acpi0 not configured
"ACPI0007" at acpi0 not configured
"ACPI0007" at acpi0 not configured
"ACPI0007" at acpi0 not configured
"ACPI0004" at acpi0 not configured
"BCM2848" at acpi0 not configured
"BCM2850" at acpi0 not configured
"BCM2856" at acpi0 not configured
"BCM2845" at acpi0 not configured
"BCM2841" at acpi0 not configured
"BCM2841" at acpi0 not configured
"BCM2838" at acpi0 not configured
"BCM2839" at acpi0 not configured
"BCM2844" at acpi0 not configured
pluart0 at acpi0 URT0 addr 0xfe201000/0x1000 irq 153: console
"BCM2836" at acpi0 not configured
"BCM2EA6" at acpi0 not configured
"MSFT8000" at acpi0 not configured
sdhc0 at acpi0 SDC1 addr 0xfe300000/0x100 irq 158
sdhc0: SDHC 3.0, 250 MHz base clock
sdmmc0 at sdhc0: 4-bit, sd high-speed, mmc high-speed
bse0 at acpi0 ETH0 addr 0xfd580000/0x10000 irq 189: address e4:5f:01:5c:a2:d1
brgphy0 at bse0 phy 1: BCM54210E 10/100/1000baseT PHY, rev. 2
"PNP0C06" at acpi0 not configured
"ACPI0004" at acpi0 not configured
sdhc1 at acpi0 SDC3 addr 0xfe340000/0x100 irq 158
sdhc1: SDHC 3.0, 100 MHz base clock
sdmmc1 at sdhc1: 8-bit, sd high-speed, mmc high-speed, ddr52
"ACPI0004" at acpi0 not configured
xhci0 at acpi0 XHC0 addr 0x600000000/0x1000 irq 175, xHCI 1.0
usb0 at xhci0: USB revision 3.0
uhub0 at usb0 configuration 1 interface 0 "Generic xHCI root hub" rev 3.00/1.00 
addr 1
acpitz0 at acpi0: critical temperature is 90 degC
dt: 445 probes
scsibus0 at sdmmc1: 2 targets, initiator 0
sd0 at scsibus0 targ 1 lun 0: <SD/MMC, USDU1, 0020> removable
sd0: 29492MB, 512 bytes/sector, 60399616 sectors
bwfm0 at sdmmc0 function 1
manufacturer 0x02d0, product 0xa9a6 at sdmmc0 function 2 not configured
manufacturer 0x02d0, product 0xa9a6 at sdmmc0 function 3 not configured
uhub1 at uhub0 port 1 configuration 1 interface 0 "VIA Labs USB2.0 Hub" rev 
2.10/4.21 addr 2
uhidev0 at uhub1 port 2 configuration 1 interface 0 "RDing TEMPERHUM1V1.2" rev 
2.00/0.01 addr 3
uhidev0: iclass 3/1, 1 report id
ukbd0 at uhidev0 reportid 1: 8 variable keys, 5 key codes
wskbd0 at ukbd0 mux 1
uhidev1 at uhub1 port 2 configuration 1 interface 1 "RDing TEMPERHUM1V1.2" rev 
2.00/0.01 addr 3
uhidev1: iclass 3/1
ugold0 at uhidev1
vscsi0 at root
scsibus1 at vscsi0: 256 targets
softraid0 at root
scsibus2 at softraid0: 256 targets
root on sd0a (c36da6214101b146.a) swap on sd0b dump on sd0b
WARNING: clock lost 15 days
WARNING: CHECK AND RESET THE DATE!
bwfm0: address e4:5f:01:5c:a2:d2
ugold0: 2 sensors type si7006 (temperature and humidity)
----------------------------------------------------------------------

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