many aarch64 machines exit with "fatal: Lockup: can't escalate 3 to HardFault"

Host environment

• Operating system: Ubuntu 24.04.1 LTS
• OS/kernel version: 6.8.0-51-generic
• Architecture: x86_64
• QEMU flavor: qemu-system-aarch64
• QEMU version: QEMU emulator version 9.2.50 (v9.2.0-319-gca80a5d026)
• QEMU command line:

qemu-system-aarch64 -machine netduino2
qemu-system-aarch64 -machine microbit
...

Emulated/Virtualized environment

• Operating system: custom
• Architecture: aarch64

Description of problem

-machine netduino2 and -machine microbit and many others dump core

Steps to reproduce

qemu-system-aarch64 -machine netduino2
qemu-system-aarch64 -machine microbit
...
$ for x in microbit netduino2 b-l475e-iot01a emcraft-sf2 fby35-bmc lm3s6965evb lm3s811evb musca-a musca-b1 netduinoplus2 olimex-stm32-h405 stm32vldiscovery
do qemu-system-aarch64 -machine $x
done

and all the mps2-* machines all result in

qemu: fatal: Lockup: can't escalate 3 to HardFault (current priority -1)

R00=00000000 R01=00000000 R02=00000000 R03=00000000
R04=00000000 R05=00000000 R06=00000000 R07=00000000
R08=00000000 R09=00000000 R10=00000000 R11=00000000
R12=00000000 R13=ffffffe0 R14=fffffff9 R15=00000000
XPSR=40000003 -Z-- A handler
FPSCR: 00000000
Aborted (core dumped)