Board is RockPro64, legacy kernel - 4.4.213-rockchip64. The issue is this:
[ 1451.681339] ohci-platform fe3a0000.usb: frame counter not updating; disabled
[ 1451.681972] ohci-platform fe3a0000.usb: HC died; cleaning up
[ 1451.682516] usb 8-1: usbfs: usb_submit_urb returned -19
[ 1451.682569] usb 8-1: USB disconnect, device number 2
It happens only on the USB2.0 ports with different keyboards, mice, custom USB HID device, webcam. The other 2x USB 3.0 ports are working fine with the same devices.
Tried fixes so far - turning usbcore.autosuspend option off, adding usbhi