I was experiencing the exact same issue on my Precision 7510 under
Xenial, after transitioning to the rolling HWE & Kernel stack. On a
hunch I added the Canonical Kernel Team PPA (https://launchpad.net
/~canonical-kernel-team/+archive/ubuntu/ppa/+packages) so I could
upgrade from kernel 4.8.0-36 to 4.8.0-37. Now shutdown and reboot are
working perfectly. Not sure if I should file a separate bug report.

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https://bugs.launchpad.net/bugs/1659623

Title:
  Shutdown/reboot hang on Dell XPS 15 9550 BIOS 1.2.18+

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