Going back through logfiles the first occurrence is
Jan 29 12:27:52 donny kernel: [72122.085286] PANIC at 
zfs_vfsops.c:585:zfs_space_delta_cb()

So it seems to have started after I upgraded from Linux version
5.4.0-1026-raspi to 1028

Jan 27 04:27:18 donny kernel: [    0.000000] Linux version
5.4.0-1026-raspi (buildd@bos02-arm64-062) (gcc version 9.3.0 (Ubuntu
9.3.0-17ubuntu1~20.04)) #29-Ubuntu SMP PREEMPT Mon Dec 14 17:01:16 UTC
2020 (Ubuntu 5.4.0-1026.29-raspi 5.4.78)

Jan 28 16:25:31 donny kernel: [    0.000000] Linux version
5.4.0-1028-raspi (buildd@bos02-arm64-034) (gcc version 9.3.0 (Ubuntu
9.3.0-17ubuntu1~20.04)) #31-Ubuntu SMP PREEMPT Wed Jan 20 11:30:45 UTC
2021 (Ubuntu 5.4.0-1028.31-raspi 5.4.78)

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https://bugs.launchpad.net/bugs/1914287

Title:
  PANIC at zfs_vfsops.c:585:zfs_space_delta_cb / VERIFY3(sa.sa_magic ==
  SA_MAGIC) failed

Status in zfs-linux package in Ubuntu:
  New

Bug description:
  When running rsync or tree (haven't tried much else) on much of the
  filesystem it will pretty routinely throw a panic report in
  syslog/kern.log, and the rsync/tree operation will later hang solidly
  such that even ^C doesn't break back to the shell, and any further
  file operations will likely hang and lock up their shells. Often
  requires power cycle rather than just shutdown -r to reboot.

  syslog/kern.log:

  Feb  2 16:52:43 donny kernel: [  517.355790] VERIFY3(sa.sa_magic == SA_MAGIC) 
failed (*value* == 3100762) <- *value* varies e.g. 1612270437, 1612270437, 
1612283815
  Feb  2 16:52:43 donny kernel: [  517.362904] PANIC at 
zfs_vfsops.c:585:zfs_space_delta_cb()
  Feb  2 16:52:43 donny kernel: [  517.368512] Showing stack for process *pid*  
<- *pid* varies
  Feb  2 16:52:43 donny kernel: [  517.368522] CPU: 1 PID: *pid* Comm: 
dp_sync_taskq Tainted: P         C OE     5.4.0-1028-raspi #31-Ubuntu <- *pid* 
as above
  Feb  2 16:52:43 donny kernel: [  517.368525] Hardware name: Raspberry Pi 4 
Model B Rev 1.4 (DT)
  Feb  2 16:52:43 donny kernel: [  517.368527] Call trace:
  Feb  2 16:52:43 donny kernel: [  517.368540]  dump_backtrace+0x0/0x198
  Feb  2 16:52:43 donny kernel: [  517.368544]  show_stack+0x28/0x38
  Feb  2 16:52:43 donny kernel: [  517.368549]  dump_stack+0xd8/0x134
  Feb  2 16:52:43 donny kernel: [  517.368583]  spl_dumpstack+0x2c/0x34 [spl]
  Feb  2 16:52:43 donny kernel: [  517.368606]  spl_panic+0xe0/0xf8 [spl]
  Feb  2 16:52:43 donny kernel: [  517.368837]  zfs_space_delta_cb+0x180/0x278 
[zfs]
  Feb  2 16:52:43 donny kernel: [  517.368968]  
dmu_objset_userquota_get_ids+0x15c/0x3b8 [zfs]
  Feb  2 16:52:43 donny kernel: [  517.369094]  dnode_sync+0x11c/0x568 [zfs]
  Feb  2 16:52:43 donny kernel: [  517.369216]  
dmu_objset_sync_dnodes+0x48/0xf0 [zfs]
  Feb  2 16:52:43 donny kernel: [  517.369333]  sync_dnodes_task+0x34/0x58 [zfs]
  Feb  2 16:52:43 donny kernel: [  517.369353]  taskq_thread+0x20c/0x3b0 [spl]
  Feb  2 16:52:43 donny kernel: [  517.369363]  kthread+0x150/0x170
  Feb  2 16:52:43 donny kernel: [  517.369368]  ret_from_fork+0x10/0x18

  
  rsync/tree command carries on running (for a while), then later log file 
shows:

  
  Feb  2 16:56:11 donny kernel: [  725.993423] INFO: task dp_sync_taskq:*pid* 
blocked for more than 120 seconds.
  Feb  2 16:56:11 donny kernel: [  726.000633]       Tainted: P         C OE    
 5.4.0-1028-raspi #31-Ubuntu
  Feb  2 16:56:11 donny kernel: [  726.007610] "echo 0 > 
/proc/sys/kernel/hung_task_timeout_secs" disables this message.
  Feb  2 16:56:11 donny kernel: [  726.015586] dp_sync_taskq   D    0  *pid*    
  2 0x00000028
  Feb  2 16:56:11 donny kernel: [  726.015595] Call trace:
  Feb  2 16:56:11 donny kernel: [  726.015608]  __switch_to+0x108/0x1c0
  Feb  2 16:56:11 donny kernel: [  726.015615]  __schedule+0x328/0x828
  Feb  2 16:56:11 donny kernel: [  726.015621]  schedule+0x4c/0xe8
  Feb  2 16:56:11 donny kernel: [  726.015650]  spl_panic+0xf4/0xf8 [spl]
  Feb  2 16:56:11 donny kernel: [  726.015829]  zfs_space_delta_cb+0x180/0x278 
[zfs]
  Feb  2 16:56:11 donny kernel: [  726.015939]  
dmu_objset_userquota_get_ids+0x15c/0x3b8 [zfs]
  Feb  2 16:56:11 donny kernel: [  726.016045]  dnode_sync+0x11c/0x568 [zfs]
  Feb  2 16:56:11 donny kernel: [  726.016151]  
dmu_objset_sync_dnodes+0x48/0xf0 [zfs]
  Feb  2 16:56:11 donny kernel: [  726.016256]  sync_dnodes_task+0x34/0x58 [zfs]
  Feb  2 16:56:11 donny kernel: [  726.016276]  taskq_thread+0x20c/0x3b0 [spl]
  Feb  2 16:56:11 donny kernel: [  726.016283]  kthread+0x150/0x170
  Feb  2 16:56:11 donny kernel: [  726.016288]  ret_from_fork+0x10/0x18
  Feb  2 16:56:11 donny kernel: [  726.016298] INFO: task txg_sync:*num* 
blocked for more than 120 seconds. <- *num* varies
  Feb  2 16:56:11 donny kernel: [  726.023051]       Tainted: P         C OE    
 5.4.0-1028-raspi #31-Ubuntu
  Feb  2 16:56:11 donny kernel: [  726.029957] "echo 0 > 
/proc/sys/kernel/hung_task_timeout_secs" disables this message.
  Feb  2 16:56:11 donny kernel: [  726.037919] txg_sync        D    0  *num*    
  2 0x00000028
  Feb  2 16:56:11 donny kernel: [  726.037929] Call trace:
  Feb  2 16:56:11 donny kernel: [  726.037939]  __switch_to+0x108/0x1c0
  Feb  2 16:56:11 donny kernel: [  726.037945]  __schedule+0x328/0x828
  Feb  2 16:56:11 donny kernel: [  726.037951]  schedule+0x4c/0xe8
  Feb  2 16:56:11 donny kernel: [  726.037973]  taskq_wait+0x78/0xb0 [spl]
  Feb  2 16:56:11 donny kernel: [  726.038142]  dmu_objset_sync+0x25c/0x3e0 
[zfs]
  Feb  2 16:56:11 donny kernel: [  726.038263]  dsl_dataset_sync+0x74/0x240 
[zfs]
  Feb  2 16:56:11 donny kernel: [  726.038391]  dsl_pool_sync+0xb0/0x3b8 [zfs]
  Feb  2 16:56:11 donny kernel: [  726.038509]  
spa_sync_iterate_to_convergence+0xf8/0x1f0 [zfs]
  Feb  2 16:56:11 donny kernel: [  726.038617]  spa_sync+0x2ec/0x520 [zfs]
  Feb  2 16:56:11 donny kernel: [  726.038736]  txg_sync_thread+0x244/0x2a0 
[zfs]
  Feb  2 16:56:11 donny kernel: [  726.038756]  
thread_generic_wrapper+0x78/0xa8 [spl]
  Feb  2 16:56:11 donny kernel: [  726.038768]  kthread+0x150/0x170
  Feb  2 16:56:11 donny kernel: [  726.038774]  ret_from_fork+0x10/0x18

  I don't know if this is related to bug #1906476
  https://bugs.launchpad.net/ubuntu/+source/zfs-linux/+bug/1906476

  System Information:
  ubuntu 20.04.2 (5.4.0-1028-raspi) server on RPi4/8G with 8TB external Seagate 
formatted zfs

  # lsb_release -rd
  Description:    Ubuntu 20.04.2 LTS
  Release:        20.04

  # apt-cache policy zfsutils-linux
  zfsutils-linux:
    Installed: 0.8.3-1ubuntu12.6
    Candidate: 0.8.3-1ubuntu12.6
    Version table:
   *** 0.8.3-1ubuntu12.6 500
          500 http://ports.ubuntu.com/ubuntu-ports focal-updates/main arm64 
Packages
          100 /var/lib/dpkg/status
       0.8.3-1ubuntu12 500
          500 http://ports.ubuntu.com/ubuntu-ports focal/main arm64 Packages

  # zpool version
  zfs-0.8.3-1ubuntu12.6
  zfs-kmod-0.8.3-1ubuntu12.5

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