Sorry, I missed the important line from the dmesg log. It should be:

[72735.678702] xhci_hcd 0000:0e:00.0: ERROR unknown event type 15
[72740.609531] xhci_hcd 0000:0e:00.0: xHCI host not responding to stop endpoint 
command.
[72740.609850] xhci_hcd 0000:0e:00.0: xHCI host controller not responding, 
assume dead
[72740.609882] usb 4-1.1.1: Failed to suspend device, error -22
[72740.609882] xhci_hcd 0000:0e:00.0: HC died; cleaning up
[72740.609926] usb 3-1: USB disconnect, device number 2
[72740.609930] usb 3-1.1: USB disconnect, device number 3
[72740.609932] usb 3-1.1.1: USB disconnect, device number 5
[72740.609935] usb 3-1.1.1.1: USB disconnect, device number 7
[72740.609938] usb 3-1.1.1.1.4: USB disconnect, device number 9
[72740.609994] usb 4-1: USB disconnect, device number 2
[72740.609996] usb 4-1.1: USB disconnect, device number 3
[72740.609997] usb 4-1.1.1: USB disconnect, device number 5
[72740.610718] usb 4-1.2: USB disconnect, device number 4
[72740.846065] usb 3-1.1.1.3: USB disconnect, device number 11
[72740.910812] usb 3-1.1.1.5: USB disconnect, device number 10
[72740.911322] usb 3-1.1.5: USB disconnect, device number 6
[72740.912038] usb 3-1.5: USB disconnect, device number 4

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https://bugs.launchpad.net/bugs/1766076

Title:
  USB over thunderbolt turns off every once in a while

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