This looks the same as
https://ubuntuforums.org/archive/index.php/t-2330904.html

In summary, this is caused by USB power-saving, and this can be disabled
by kernel parameter "usbcore.autosuspend"

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https://bugs.launchpad.net/bugs/1904953

Title:
  USB2.0 HUB only works after an USB device is connected

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