Same here on x395 (amd chipset) with Ubuntu 18.04 and 20.04 (kernel
5.4.0-14-generic). Also same on Fedora 31.

Attached a script that restore USB after undocking as workaround.

** Attachment added: "Script to reset xHCI after undocking"
   
https://bugs.launchpad.net/ubuntu/+source/linux/+bug/1857385/+attachment/5329344/+files/xhci-reset.sh

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https://bugs.launchpad.net/bugs/1857385

Title:
  xHCI host controller not responding, assume dead via USB-C docking
  station

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