I hit the same problem, when I plugged in the thunderbolt device to an already running environment. It worked w/o authorization when I restarted the system.
My system configuation was:
sudo lshw -short
H/W path Device Class Description
===================================================================
system XPS 15 7590 (0905)
/0 bus 0VYV0G
/0/0 memory 64KiB BIOS
/0/37 memory 16GiB System Memory
/0/37/0 memory 8GiB SODIMM DDR4 Synchro
/0/37/1 memory 8GiB SODIMM DDR4 Synchro
/0/40 memory 384KiB L1 cache
/0/41 memory 1536KiB L2 cache
/0/42 memory 12MiB L3 cache
/0/43 processor Intel(R) Core(TM) i7-975
/0/100 bridge 8th Gen Core Processor H
/0/100/1 bridge Xeon E3-1200 v5/E3-1500
/0/100/1/0 display TU117M [GeForce GTX 1650
/0/100/2 display UHD Graphics 630 (Mobile
/0/100/4 generic Xeon E3-1200 v5/E3-1500
/0/100/8 generic Xeon E3-1200 v5/v6 / E3-
/0/100/12 generic Cannon Lake PCH Thermal
/0/100/14 bus Cannon Lake PCH USB 3.1
/0/100/14/0 usb1 bus xHCI Host Controller
/0/100/14/0/4 communication Bluetooth wireless inter
/0/100/14/0/7 communication Goodix Fingerprint Devic
/0/100/14/0/c multimedia Integrated_Webcam_HD
/0/100/14/1 usb2 bus xHCI Host Controller
/0/100/14.2 memory RAM memory
/0/100/15 bus Cannon Lake PCH Serial I
/0/100/15.1 bus Cannon Lake PCH Serial I
/0/100/16 communication Cannon Lake PCH HECI Con
/0/100/17 storage Cannon Lake Mobile PCH S
/0/100/1b bridge Cannon Lake PCH PCI Expr
/0/100/1b/0 bridge JHL6340 Thunderbolt 3 Br
/0/100/1b/0/0 bridge JHL6340 Thunderbolt 3 Br
/0/100/1b/0/0/0 generic JHL6340 Thunderbolt 3 NH
/0/100/1b/0/1 bridge JHL6340 Thunderbolt 3 Br
/0/100/1b/0/1/0 bridge JHL6540 Thunderbolt 3 Br
/0/100/1b/0/1/0/0 bridge JHL6540 Thunderbolt 3 Br
/0/100/1b/0/1/0/0/0 bus ASM1042A USB 3.0 Host Co
/0/100/1b/0/1/0/0/0/0 usb5 bus xHCI Host Controller
/0/100/1b/0/1/0/0/0/0/1 input Microsoft
/0/100/1b/0/1/0/0/0/0/2 input USB Receiver
/0/100/1b/0/1/0/0/0/1 usb6 bus xHCI Host Controller
/0/100/1b/0/1/0/1 bridge JHL6540 Thunderbolt 3 Br
/0/100/1b/0/1/0/1/0 ens1 network I210 Gigabit Network Con
/0/100/1b/0/2 bridge JHL6340 Thunderbolt 3 Br
/0/100/1b/0/2/0 bus JHL6340 Thunderbolt 3 US
/0/100/1b/0/2/0/0 usb3 bus xHCI Host Controller
/0/100/1b/0/2/0/1 usb4 bus xHCI Host Controller
/0/100/1c bridge Cannon Lake PCH PCI Expr
/0/100/1c/0 wlp59s0 network Wi-Fi 6 AX200
/0/100/1c.4 bridge Cannon Lake PCH PCI Expr
/0/100/1c.4/0 generic RTS525A PCI Express Card
/0/100/1d bridge Cannon Lake PCH PCI Expr
/0/100/1d/0 storage SSD Pro 7600p/760p/E 610
/0/100/1d/0/0 /dev/nvme0 storage SSDPEMKF512G8 NVMe INTEL
/0/100/1d/0/0/1 /dev/nvme0n1 disk 512GB NVMe namespace
/0/100/1d/0/0/1/1 /dev/nvme0n1p1 volume 679MiB Windows FAT volum
/0/100/1d/0/0/1/2 /dev/nvme0n1p2 volume 127MiB reserved partitio
/0/100/1d/0/0/1/3 /dev/nvme0n1p3 volume 15EiB Windows FAT volume
/0/100/1d/0/0/1/4 /dev/nvme0n1p4 volume 989MiB Windows NTFS volu
/0/100/1d/0/0/1/5 /dev/nvme0n1p5 volume 14GiB Windows NTFS volum
/0/100/1d/0/0/1/6 /dev/nvme0n1p6 volume 1250MiB Windows NTFS vol
/0/100/1d/0/0/1/7 /dev/nvme0n1p7 volume 3815MiB EXT4 volume
/0/100/1d/0/0/1/8 /dev/nvme0n1p8 volume 390GiB EFI partition
/0/100/1f bridge Intel Corporation
/0/100/1f.3 multimedia Cannon Lake PCH cAVS
/0/100/1f.4 bus Cannon Lake PCH SMBus Co
/0/100/1f.5 bus Cannon Lake PCH SPI Cont
/0/1 system PnP device PNP0c02
/0/2 system PnP device PNP0c02
/0/3 system PnP device PNP0b00
/0/4 generic PnP device INT3f0d
/0/5 input PnP device PNP0303
/0/6 generic PnP device DLL0905
/0/7 system PnP device PNP0c02
/0/8 system PnP device PNP0c02
/0/9 system PnP device PNP0c02
/0/a system PnP device PNP0c02
/1 power DELL GPM0365
/2 virbr0-nic network Ethernet interface
/3 vnet0 network Ethernet interface
With the Ubuntu version
lsb_release -a
LSB Version: core-11.1.0ubuntu2-noarch:printing-11.1.0ubuntu2-noarch:security-11.1.0ubuntu2-noarch
Distributor ID: Ubuntu
Description: Ubuntu 20.04.4 LTS
Release: 20.04
Codename: focal
Based on the above problem w/o authorization, looking for USB devices was:
lsusb
Bus 004 Device 001: ID 1d6b:0003 Linux Foundation 3.0 root hub
Bus 003 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub
Bus 002 Device 001: ID 1d6b:0003 Linux Foundation 3.0 root hub
Bus 001 Device 005: ID 27c6:5395 Shenzhen Goodix Technology Co.,Ltd. Fingerprint Reader
Bus 001 Device 004: ID 8087:0029 Intel Corp.
Bus 001 Device 006: ID 0c45:6723 Microdia Integrated_Webcam_HD
Bus 001 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub
Then trying a boltctl gave me:
● CalDigit, Inc. TB3-MiniDock-HM
├─ type: peripheral
├─ name: TB3-MiniDock-HM
├─ vendor: CalDigit, Inc.
├─ uuid: 002531a1-95cb-3d00-ffff-ffffffffffff
├─ status: connected
│ ├─ domain: cb010000-0090-8f18-23aa-da2250318a24
│ └─ authflags: none
├─ connected: Fri 15 Apr 2022 04:01:24 PM UTC
└─ stored: no
Note the "●" comes out as "yellow", of course assuming your using one of your default themes.
Then what fixed the problem was quite simply:
boltctl authorize <uuid>
thereby
boltctl authorize 002531a1-95cb-3d00-ffff-ffffffffffff
Subsequently when you run to verify
boltctl
● CalDigit, Inc. TB3-MiniDock-HM
├─ type: peripheral
├─ name: TB3-MiniDock-HM
├─ vendor: CalDigit, Inc.
├─ uuid: 002531a1-95cb-3d00-ffff-ffffffffffff
├─ status: authorized
│ ├─ domain: cb010000-0090-8f18-23aa-da2250318a24
│ └─ authflags: none
├─ authorized: Fri 15 Apr 2022 04:10:52 PM UTC
├─ connected: Fri 15 Apr 2022 04:01:24 PM UTC
└─ stored: no
Note: The "●" here come out as green in color here to indicate it is authorized.
To further validate it found all the devices
lsusb
Bus 004 Device 001: ID 1d6b:0003 Linux Foundation 3.0 root hub
Bus 003 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub
Bus 006 Device 001: ID 1d6b:0003 Linux Foundation 3.0 root hub
Bus 005 Device 003: ID 046d:c52b Logitech, Inc. Unifying Receiver
Bus 005 Device 002: ID 045e:07a5 Microsoft Corp. Wireless Receiver 1461C**
Bus 005 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub
Bus 002 Device 001: ID 1d6b:0003 Linux Foundation 3.0 root hub
Bus 001 Device 005: ID 27c6:5395 Shenzhen Goodix Technology Co.,Ltd. Fingerprint Reader
Bus 001 Device 004: ID 8087:0029 Intel Corp.
Bus 001 Device 006: ID 0c45:6723 Microdia Integrated_Webcam_HD
Bus 001 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub
It found the plugged in "Logitech and Microsoft" input devices in this case and additional 2x root hub ports
Bus 005 Device 003: ID 046d:c52b Logitech, Inc. Unifying Receiver
Bus 005 Device 002: ID 045e:07a5 Microsoft Corp. Wireless Receiver 1461C**
Bus 005 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub
Bus 002 Device 001: ID 1d6b:0003 Linux Foundation 3.0 root hub