some configuration I'd tried:
1. dtoverlay=dwc_otg, or comment out = no difference
2. with no other dtoverlay, I actually set "dtoverlay=vc4-fkms-v3d" in 
syscfg.txt, and comment it out or not also make no difference

I didn't grab every dmesg, but without both dwc_otg and vc4-fkms-v3d,
here you go:

----- pi4 -----
[    1.677307] dwc_otg: version 3.00a 10-AUG-2012 (platform bus)
[    1.884348] Core Release: 2.80a
[    1.888641] Setting default values for core params
[    1.892857] Finished setting default values for core params
[    1.966759] usb 1-1: new high-speed USB device number 2 using xhci_hcd
[    2.099551] Using Buffer DMA mode
[    2.103715] Periodic Transfer Interrupt Enhancement - disabled
[    2.107870] Multiprocessor Interrupt Enhancement - disabled
[    2.112043] OTG VER PARAM: 0, OTG VER FLAG: 0
[    2.116220] Dedicated Tx FIFOs mode
[    2.121186] WARN::dwc_otg_hcd_init:1043: FIQ DMA bounce buffers: virt = 
ffff00001060b000 dma = 0x00000000f9510000 len=9024
[    2.121384] usb 1-1: New USB device found, idVendor=2109, idProduct=3431, 
bcdDevice= 4.21
[    2.125542] FIQ FSM acceleration enabled for :
               Non-periodic Split Transactions
               Periodic Split Transactions
               High-Speed Isochronous Endpoints
               Interrupt/Control Split Transaction hack enabled
[    2.129850] usb 1-1: New USB device strings: Mfr=0, Product=1, SerialNumber=0
[    2.150875] dwc_otg: Microframe scheduler enabled
[    2.155145] usb 1-1: Product: USB2.0 Hub
[    2.155171] WARN::hcd_init_fiq:496: MPHI regs_base at ffff000010305200
[    2.161313] hub 1-1:1.0: USB hub found
[    2.163817] dwc_otg fe980000.usb: DWC OTG Controller
[    2.168259] hub 1-1:1.0: 4 ports detected
[    2.172320] dwc_otg fe980000.usb: new USB bus registered, assigned bus 
number 3
[    2.180968] dwc_otg fe980000.usb: irq 24, io mem 0x00000000
[    2.185310] Init: Port Power? op_state=1
[    2.189549] Init: Power Port (0)
[    2.194099] usb usb3: New USB device found, idVendor=1d6b, idProduct=0002, 
bcdDevice= 5.03
[    2.198369] usb usb3: New USB device strings: Mfr=3, Product=2, 
SerialNumber=1
[    2.202590] usb usb3: Product: DWC OTG Controller
[    2.206801] usb usb3: Manufacturer: Linux 5.3.0-1017-raspi2 dwc_otg_hcd
[    2.211037] usb usb3: SerialNumber: fe980000.usb
[    2.216023] hub 3-0:1.0: USB hub found
[    2.220290] hub 3-0:1.0: 1 port detected
[    2.225408] dwc_otg: FIQ enabled
[    2.225419] dwc_otg: NAK holdoff enabled
[    2.225430] dwc_otg: FIQ split-transaction FSM enabled
[    2.225458] Module dwc_common_port init
...
[    5.701961] udc-core: couldn't find an available UDC - added [g_cdc] to list 
of pending drivers

no more g_cdc driver related loading message afterward.  so, I have to
keep using "dtoverlay=dwc2,dr_mode=peripheral" at the moment

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https://bugs.launchpad.net/bugs/1861070

Title:
  Raspberry Pi 4B: USB OTG is not working

Status in linux-raspi2 package in Ubuntu:
  New

Bug description:
  I am using Raspberry Pi 4B (4GB) and want to make use of the OTG
  functionality (g_ether).  I cross checked with Raspbian to make sure
  it is not a hardware issue.  Extract from dmesg of Ubuntu 19.10.1 with
  latest updates applied as of Jan 26th, 2020 via "apt-get update" and
  "apt-get full-upgrade":

  ...
  [    1.514262] dwc_otg: version 3.00a 10-AUG-2012 (platform bus)
  [    1.517365] dwc_otg: FIQ enabled
  [    1.517376] dwc_otg: NAK holdoff enabled
  [    1.517386] dwc_otg: FIQ split-transaction FSM enabled
  [    1.517399] Module dwc_common_port init
  ...
  [    6.358332] dwc2 fe980000.usb: fe980000.usb supply vusb_d not found, using 
dummy regulator
  [    6.358388] dwc2 fe980000.usb: fe980000.usb supply vusb_a not found, using 
dummy regulator
  [    6.358545] dwc2 fe980000.usb: Configuration mismatch. dr_mode forced to 
host
  [    6.409098] dwc2 fe980000.usb: DWC OTG Controller
  [    6.409399] dwc2 fe980000.usb: new USB bus registered, assigned bus number 
3
  [    6.409432] dwc2 fe980000.usb: irq 23, io mem 0xfe980000
  ...
  [  111.796714] udc-core: couldn't find an available UDC - added [g_ether] to 
list of pending drivers

  I think it is that "Configuration mismatch. dr_mode forced to host"
  log entry telling me that the port is acting as HOST mode instead of
  OTG mode.  I have try putting these in usercfg.txt

  "dtoverlay=dwc2"
  "dtoverlay=dwc2,dr_mode=otg"
  "dtoverlay=dwc2,dr_mode=peripheral"

  and it will give the same result, no OTG functionality.

  On the same hardware running Raspbian Buster, it initialise successfully.  
Corresponding dmesg:
  ...
  [    0.567531] dwc_otg: version 3.00a 10-AUG-2012 (platform bus)
  [    0.570391] dwc_otg: FIQ enabled
  [    0.570400] dwc_otg: NAK holdoff enabled
  [    0.570409] dwc_otg: FIQ split-transaction FSM enabled
  [    0.570421] Module dwc_common_port init
  ...
  [    2.507634] dwc2 fe980000.usb: fe980000.usb supply vusb_d not found, using 
dummy regulator
  [    2.511011] dwc2 fe980000.usb: Linked as a consumer to regulator.0
  [    2.514450] dwc2 fe980000.usb: fe980000.usb supply vusb_a not found, using 
dummy regulator
  [    2.731860] dwc2 fe980000.usb: dwc2_check_params: Invalid parameter lpm=1
  [    2.735511] dwc2 fe980000.usb: dwc2_check_params: Invalid parameter 
lpm_clock_gating=1
  [    2.735522] dwc2 fe980000.usb: dwc2_check_params: Invalid parameter besl=1
  [    2.735533] dwc2 fe980000.usb: dwc2_check_params: Invalid parameter 
hird_threshold_en=1
  [    2.735582] dwc2 fe980000.usb: EPs: 8, dedicated fifos, 4080 entries in 
SPRAM
  [    2.752511] dwc2 fe980000.usb: DWC OTG Controller
  [    2.752554] dwc2 fe980000.usb: new USB bus registered, assigned bus number 
3
  [    2.752601] dwc2 fe980000.usb: irq 36, io mem 0xfe980000
  ...
  [    2.848843] g_ether gadget: Ethernet Gadget, version: Memorial Day 2008
  [    2.851601] g_ether gadget: g_ether ready
  [    2.854580] dwc2 fe980000.usb: bound driver g_ether
  [    2.998525] dwc2 fe980000.usb: new device is high-speed
  [    3.075025] dwc2 fe980000.usb: new device is high-speed
  [    3.139338] dwc2 fe980000.usb: new address 10
  [    3.154010] g_ether gadget: high-speed config #1: CDC Ethernet (ECM)

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