Update:
Boot this morning had different behaviour. Disk was not mounted immediately after boot and login. dmesg showed, it was mounted about 140 sec after the still appearing 3 errors “xhci disable EPxxx”.
I can live with this behaviour, as long as the drive does not prevent booting up to login and the drive is mounted without my manual activity.
Of course I prefere the better solution to get rid of the reason which issues the above errors and immediate the detection of drives attached to the USB3 ports. But this has to be covered be “Odroid” I think.
hfb