Raspberry PI 4 doesn’t mount USB SATA drive during boot

Just installed an external USB 3.0 SATA drive (1TB) on a Raspberry Pi 4 running Raspbian.

The drive is working and was formatted as ext4. However, when I reboot the Raspberry Pi, the drive is not mounted during the boot process. After booting, I have to power off/on the unit and then it’s mounted as expected. The drive is plugged into a USB 3.0 port.

lsusb shows

Bus 002 Device 001: ID 1d6b:0003 Linux Foundation 3.0 root hub
Bus 001 Device 003: ID 051d:0002 American Power Conversion Uninterruptible Power Supply
Bus 001 Device 002: ID 2109:3431 VIA Labs, Inc. Hub
Bus 001 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub

The drive is missing in the above list.

dmesg shows

(   18.795025) xhci_hcd 0000:01:00.0: Timeout while waiting for setup device command
(   19.015726) usb 2-2: Device not responding to setup address.
(   19.234776) usb 2-2: device not accepting address 4, error -71
(   24.474968) xhci_hcd 0000:01:00.0: Timeout while waiting for setup device command
(   24.694926) usb 2-2: Device not responding to setup address.
(   24.914762) usb 2-2: device not accepting address 5, error -71
(   24.923254) usb usb2-port2: unable to enumerate USB device
(   27.000712) IPv6: ADDRCONF(NETDEV_CHANGE): wlan0: link becomes ready
(   27.990177) Bluetooth: Core ver 2.22
(   27.990237) NET: Registered protocol family 31
(   27.990243) Bluetooth: HCI device and connection manager initialized
(   27.990257) Bluetooth: HCI socket layer initialized
(   27.990266) Bluetooth: L2CAP socket layer initialized
(   27.990286) Bluetooth: SCO socket layer initialized
(   28.008817) Bluetooth: HCI UART driver ver 2.3
(   28.008827) Bluetooth: HCI UART protocol H4 registered
(   28.008883) Bluetooth: HCI UART protocol Three-wire (H5) registered
(   28.009028) Bluetooth: HCI UART protocol Broadcom registered
(   28.194044) Bluetooth: BNEP (Ethernet Emulation) ver 1.3
(   28.194054) Bluetooth: BNEP filters: protocol multicast
(   28.194069) Bluetooth: BNEP socket layer initialized
(   30.235000) xhci_hcd 0000:01:00.0: Timeout while waiting for setup device command
(   30.454990) usb 2-2: Device not responding to setup address.
(   30.674868) usb 2-2: device not accepting address 6, error -71
(   33.000734) fuse: init (API version 7.32)
(   33.988797) Bluetooth: RFCOMM TTY layer initialized
(   33.988818) Bluetooth: RFCOMM socket layer initialized
(   33.988845) Bluetooth: RFCOMM ver 1.11
(   35.914818) xhci_hcd 0000:01:00.0: Timeout while waiting for setup device command
(   36.134855) usb 2-2: Device not responding to setup address.
(   36.354773) usb 2-2: device not accepting address 7, error -71
(   36.363035) usb usb2-port2: attempt power cycle