I did an upgrade from kernel 5.4.0-74-generic to 5.4.0-77-generic and
the problem disappeared.

$ stty -F /dev/ttyACM0
speed 57600 baud; line = 0;
eof = ^A; min = 1; time = 0;
-brkint -icrnl -imaxbel
-opost -onlcr
-icanon -echo -echoe

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https://bugs.launchpad.net/bugs/1931684

Title:
  cdc_acm: acm_port_activate - usb_submit_urb(ctrl irq) failed

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