Just ran into this bug just now on a Gigabyte Z790 UD AC motherboard.

xhci_hcd  WARN Set TR Deq Ptr cmd failed due to incorrect slot or ep
state

Added kernel command line intel_iommu=off option seemingly helped
slightly with improved boot times (usb slow initialization), however
subsequently locked-up the BIOS/EFI with me manually setting bad memory
SPD timings, reluctantly resetting CMOS via shorting using a
screwdriver.  After re-configuring the BIOS to sane OEM stable settings
(eg. Deactivate overclocking Turbo Modes), xhci_hcd the error is now
gone!  (eg. dmesg |grep fail)  This xhci_hcd error seemed to
mysteriously occur after activating XMP.  I've activated XMP in the past
without problems, but XMP was only activated briefly alongside CPU Turbo
mode.  Weird!

I'm really really not liking EFI/UEFI.  Too many mysterious bugs
popping-up.

For those still monitoring, try hard resetting your CMOS (with the
screwdriver/short pins) and then loading BIOS/EFI default settings.
Shrugs as to whether XMP or CPU Turbo modes have any affect.

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https://bugs.launchpad.net/bugs/1749961

Title:
  xhci_hcd: TRB DMA errors reported with ASMedia ASM1142 USB 3.1
  Controller

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