This also happened to me on two Surface Docks.
I have the impression in my case it is related to heavy use of graphics and the use of Chrome or Edge Chromium.
Yesterday, I suddenly suffered from the disconnecting Surface dock after a stable period of several months.
This morning I updated the firmware, but that did not help.
Then I found that Edge Chromium Canary build 86.0.614.0 was kind of misbehaving and the Application log was flooded with Windows Error Reporting Events with the event name crashpad_exp from Edge. I had just updatedt to the lastest build as of yesterday. The Surface Dock issues started right after the upgrade. So I decided to uninstall the Canary build for Edge Chromium and move to the current release on build 84.0.522.63.
Now it has been a few hours since I removed the Canary build and started using the current version of Edge, and no Surface Dock disconnects have occurred since.
Keeping my fingers crossed. But for now I will focus on graphics load when the Surface Dock starts misbehaving again.