Looking at the logs I noticed that every disconnect threw a line with an
UPower debug message. It appears that the xfce4-power-manager was using
this daemon to poll the trackpad now and then for its battery level.
What seems to have fixed the issue for me is to completely disable and
uninstall UPower and xfce4-power-manager.

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https://bugs.launchpad.net/bugs/1385113

Title:
  hid-generic 0005:099A:0500.0001: unknown main item tag 0x0

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