m_drv_state == NRFX_DRV_STATE_POWERED_ON assertion

Question

I'm using a thingy53 on ncs v2.7.0.

I turned on CONFIG_ASSERT to try and find issues. This issue pops up randomly, it asserts the program crashes and causes me to have to remove the battery to get the accel reporting the proper device id.

ASSERTION FAIL [m_drv_state == NRFX_DRV_STATE_POWERED_ON] @ WEST_TOPDIR/zephyr/drivers/usb/common/nrf_usbd_common/nrf_usbd_common.c:1275
[00:00:00.621,917] <err> os: r0/a1: 0x00000004 r1/a2: 0x000004fb r2/a3: 0x00000000
[00:00:00.623,016] <err> os: r3/a4: 0x00000004 r12/ip: 0x00000400 r14/lr: 0x0002c7c1
[00:00:00.624,114] <err> os: xpsr: 0x01000000
[00:00:00.624,877] <err> os: Faulting instruction address (r15/pc): 0x00040ca0
[00:00:00.625,885] <err> os: >>> ZEPHYR FATAL ERROR 4: Kernel panic on CPU 0
[00:00:00.626,861] <err> os: Current thread: 0x20006838 (usbd_workq)

arm-zephyr-eabi-addr2line -e build/zephyr/zephyr.elf 0x00040ca0
C:/ncs/v2.7.0/zephyr/lib/os/assert.c:44

https://github.com/zephyrproject-rtos/zephyr/issues/12016 - Crash while disconnecting device from USB

This project does wake sense and turns off and on. It crashes and I find something about a work->handler being null (and the code I'm working in doesn't use workq) or now this NRFX_DRV_STATE_POWERED_ON assertion. Which based on the discussions in the above github link theres a workq involved here.

I can't remember if there was a physical disconnect or not. I will continue to try to reproduce.