Firmware restart with USB-connected MCUs crashes xHCI controller on Arduino UNO Q board

Hallo @fulipp0 !

You have various versions of Klipper installed.

...
Loaded MCU 'mcu' 130 commands (v0.12.0-410-gcf3b0475d / gcc: (15:8-2019-q3-1+b1) 8.3.1 20190703 (release) [gcc-8-branch revision 273027] binutils: (2.35.2-2+14+b2) 2.35.2)
...
Loaded MCU 'EBB' 132 commands (v0.13.0-403-gb4c7cf4a / gcc: (15:8-2019-q3-1+b1) 8.3.1 20190703 (release) [gcc-8-branch revision 273027] binutils: (2.35.2-2+14+b2) 2.35.2)
...
Loaded MCU 'Turtle_1' 121 commands (v0.12.0-452-g75a10bfca / gcc: (15:8-2019-q3-1+b1) 8.3.1 20190703 (release) [gcc-8-branch revision 273027] binutils: (2.35.2-2+14+b2) 2.35.2)
...

You may fix that as the first step.

Also Klipper is marked as ‘dirty’.

...
Git version: 'v0.13.0-513-g1fe9fb3a-dirty'
Untracked files: klippy/extras/AFC.py, klippy/extras/AFC_BoxTurtle.py, klippy/extras/AFC_HTLF.py, klippy/extras/AFC_NightOwl.py, klippy/extras/AFC_QuattroBox.py, klippy/extras/AFC_assist.py, klippy/extras/AFC_buffer.py, klippy/extras/AFC_button.py, klippy/extras/AFC_error.py, klippy/extras/AFC_extruder.py, (+15 files)
...

You may try a pristine version of Klipper (The "dirty" Flag and the Team's Position)

You also may check if the Cartographer firmware is up to date. There have been issues with older versions and Klipper v0.13.