Touch input randomly stops working

Touch input randomly stops working on my Pixel 3a. The device otherwise is working fine, the external buttons work and the screen continues to update with the time. Just no touch input. I have to reboot the phone to get it working again.

When this happens I see this in dmesg

[100218.311647] geni_i2c a84000.i2c: prep_slave_sg failed
[100218.311674] geni_i2c a84000.i2c: GPI transfer failed: -5
[100218.330246] rmi4_physical rmi4-00: Failed to read irqs, code=-5