Hello, I have this problem too - XPS 9500, TB16. No problems using this
dock with previous laptop (XPS 9550).

Some extra information that I didn't see mentioned is that ​USB storage
connected to the dock (USB-A keyfob, USB-C Samsung T5) seem to work OK,
and dock ethernet seems OK. For me, anyway. I also have a DVD-ROM
plugged in that seems OK (haven't read a disc, but I can 'eject dvd' and
the tray opens).

For me the USB mouse is the problem - it doesn't work.  Every 1 min it
reconnects, works for <1 second, then stops working. Have tried front
USB3, rear USB2 & USB3 ports, all have same symptoms.

I'm on kernel 5.11, have updated TB16 firmware to 1.0.4. I dual-boot
this system with Windows, with latest drivers/FW installed. BIOS is
1.7.1.

HOpe this is helpful. I will try to assist if possible.

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https://bugs.launchpad.net/bugs/1922336

Title:
  ACPI errors and USB reset loop when hot-plugging a Titan Ridge laptop
  into a dock (9500, TB16)

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