It still seems to occur with legacy off as like this:
[176415.122762] audit: type=1400 audit(1594185043.387:98): apparmor="DENIED" 
operation="open" profile="/usr/sbin/ntpd" name="/snap/bin/" pid=29012 
comm="ntpd" requested_mask="r" denied_mask="r" fsuid=0 ouid=0
[177014.298770] xhci_hcd 0000:04:00.0: WARN Cannot submit Set TR Deq Ptr
[177014.298774] xhci_hcd 0000:04:00.0: A Set TR Deq Ptr command is pending.
[177014.430726] usb 4-1: reset SuperSpeed Gen 1 USB device number 2 using 
xhci_hcd
[177021.494950] xhci_hcd 0000:04:00.0: WARN Cannot submit Set TR Deq Ptr
[177021.494954] xhci_hcd 0000:04:00.0: A Set TR Deq Ptr command is pending.
[177021.626801] usb 4-1: reset SuperSpeed Gen 1 USB device number 2 using 
xhci_hcd
[177275.187773] audit: type=1107 audit(1594185903.447:99): pid=1072 uid=102 
auid=4294967295 ses=4294967295 msg='apparmor="DENIED" 
operation="dbus_method_call"  bus="system" path="/" 
interface="org.freedesktop.DBus.ObjectManager" member="GetManagedObjects" 
mask="send" name="org.bluez" pid=29086 label="snap.chromium.chromium" 
peer_pid=1566 peer_label="unconfined"
                 exe="/usr/bin/dbus-daemon" sauid=102 hostname=? addr=? 
terminal=?'
[177614.394855] xhci_hcd 0000:04:00.0: WARN Cannot submit Set TR Deq Ptr
[177614.394858] xhci_hcd 0000:04:00.0: A Set TR Deq Ptr command is pending.

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https://bugs.launchpad.net/bugs/1886366

Title:
  USB External Drive Stalls and Timeouts

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