Okay I have just tried using mtp-tools to tranfer multiple files in
succesion to my Samsung T10 and all has worked successfully.

I used the following command

for file in `ls`; do mtp-connect --sendfile $file $file; done

In the current directory I have 16 mp3 files and they were all copied
one after the other and mtp-tools / libmtp did not hang. Using drag and
drop via nautilus this would have crashed.

This would suggest that the problem is not libmtp but mtpfs or nautilus.
Unfortunately I do not know how to debug them.

-- 
Mutiple file transfers appear to cause libmtp to hang
https://bugs.launchpad.net/bugs/181977
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