I'm having the exact same issue, cannot boot my OrangePi PC+ if any USB device is connected =( Armbian 21.05.1 and Kernel 5.10.x
It does boot fine without anything connected and I can use it fine by plugging the devices after the u-boot handles the boot process to the kernel, but meh, not the expected behavior.
Just wanted to report in the issue for now, since I saw the topic with the kinda exact same issue, tho still investigating and looking what has changes on the latest commits that could affect it since builds from february still boot fine, maybe u-boot v2021.04 broke something..
my u-boot keeps boot looping with the following logs..
