I see errors during the sudo lsusb -v:

Bus 004 Device 001: ID 1d6b:0003 Linux Foundation 3.0 root hub
Couldn't open device, some information will be missing
...
Bus 003 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub
Couldn't open device, some information will be missing

these do not occur after reconnecting the dock.

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https://bugs.launchpad.net/bugs/1697395

Title:
  Dell TB16 USB is not working if connected during boot

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