Comment # 9 on bug 1206946 from Matthias Brugger

(In reply to Ivan Ivanov from comment #8)
> This is happening on reboot with latest Tumbleweed and MicroOS.
> 
> --
> U-Boot 2023.01 (Feb 20 2023 - 00:00:00 +0000)
> 
> DRAM:  992 MiB (effective 3.9 GiB)
> RPI 4 Model B (0xc03111)
> Core:  210 devices, 17 uclasses, devicetree: board
> MMC:   mmcnr@7e300000: 1, mmc@7e340000: 0
> Loading Environment from FAT... Unable to read "uboot.env" from mmc0:1...
> In:    serial
> Out:   serial
> Err:   serial
> Net:   eth0: ethernet@7d580000
> PCIe BRCM: link up, 5.0 Gbps x1 (SSC)
> starting USB...
> Bus xhci_pci: Register 5000420 NbrPorts 5
> Starting the controller
> USB XHCI 1.00
> scanning bus xhci_pci for devices... WARN halted endpoint, queueing URB
> anyway.
> Unexpected XHCI event TRB, skipping... (3db456a0 00000004 13000000 03008400)
> BUG at drivers/usb/host/xhci-ring.c:530/abort_td()!
> BUG!
> resetting ...
> --

My bet would be that it was introduced with patches around:
ba1efb3d249 ("usb: xhci: Implement DMA mapping")

Maybe revert that series to see if that helps?