usb connection mode – Heimdall gives ERROR: Failed to receive handshake response. Result: -7 on samsung J5 (2016)

I am trying to connect to a Samsung J5 (2016) SM-J510FN, using linux ubuntu 20.04 (libusb-1.0.0), to flash a TWRP image using heimdall v1.4.2 (build from master a2cfdaa)

I have set the udev based on the git repository android-udev-rules

Mobile has USB debbuging on and OEM unlock. And using samsung cables for connection

Mobile phone is visible on lsusb either in normal OS boot or in download mode

Normal Boot:
Bus 001 Device 096: ID 04e8:6860 Samsung Electronics Co., Ltd Galaxy series, misc. (MTP mode)

Download mode / Odin mode:
Bus 001 Device 097: ID 04e8:685d Samsung Electronics Co., Ltd GT-I9100 Phone (Galaxy S II)(Download mode)

Running heimdall print-pit works without problems. But then:

heimdall flash --RECOVERY twrp-3.4.0-0-j5nlte.img  --stdout-errors --verbose --no-reboot

Initialising protocol...
ERROR: Failed to receive handshake response. Result: -7
ERROR: Failed to receive handshake response. Result: -7
ERROR: Protocol initialisation failed!

ERROR: Protocol initialisation failed!

Releasing device interface...

My computer only has usb3.0 but also tried with a porthub for usb2.0, this looks like issue #209

Any ideas or tips on how to solve this problem ?!