i2c-ELAN071B:00: can't add hid device: -5 -- HP touchpad fails on boot or wake

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Running kernel 5.15.7 (also not working in earlier versions) + Kubuntu 21.10
I have an HP Probook X360 435 g7 with an "ELAN071B:00 04F3:312C Touchpad"
The touchpad usually works fine, but sometimes it stops working either during reboot or after wake from suspend. I thought the issue might be related to runtime power-management, but I set power/control to "on" with a udev rule for my touchpad and the boot error still happens sometimes. I haven't had the touchpad stop working after wake from suspend since setting the "on" option, but I can't yet tell for certain whether the udev rule fixed that aspect of the bug because it occurs so infrequently & at irregular intervals.

Additionally, (not after boot, only after wake from suspend) my touchpad sometimes gets detected as a mouse, disabling features like scrolling and disable while typing.

While booting I always get this error (which does not break the touchpad):
ACPI BIOS ERROR (bug): Could not resolve symbol [\_SB.PCI0.BUSB.SAT1], AE_NOT_FOUND (20210730/dswload2-162)
ACOU Error: AE_NOT_FOUND, During name lookup/catalog (20210730,psobject-220)

That error doesn't seem to be directly causing any issues because everything still works fine. However, I sometimes get the below error during boot, causing my touchpad to fail:
hid(null): reading report descriptor failed
i2c_hid_acpi i2c-ELAN071B:00: can't add hid device: -5

I thought the two might be somehow related because they both mention acpi.

Attached are (in a tarball because of 1 attachment limit) copies of /proc/acpi and /proc/bus/input/devices, and outputs from dmesg, udevinfo for the touchpad device, lspci -vvnn, and dmidecode.

ProblemType: Bug
DistroRelease: Ubuntu 21.10
Package: xserver-xorg-input-libinput 1.1.0-1
Uname: Linux 5.15.7-051507-generic x86_64
ApportVersion: 2.20.11-0ubuntu71
Architecture: amd64
BootLog: Error: [Errno 13] Permission denied: '/var/log/boot.log'
CasperMD5CheckResult: pass
CurrentDesktop: KDE
Date: Sun Dec 12 15:48:49 2021
DistUpgraded: Fresh install
DistroCodename: impish
DistroVariant: ubuntu
InstallationDate: Installed on 2021-12-04 (8 days ago)
InstallationMedia: Kubuntu 21.10 "Impish Indri" - Release amd64 (20211012)
MachineType: HP HP ProBook x360 435 G7
ProcKernelCmdLine: BOOT_IMAGE=/@/boot/vmlinuz-5.15.7-051507-generic root=UUID=4dd309c6-64a6-4892-b1a8-5af4490d50d1 ro rootflags=subvol=@ quiet splash vt.handoff=7
SourcePackage: xserver-xorg-input-libinput
UpgradeStatus: No upgrade log present (probably fresh install)
dmi.bios.date: 07/29/2021
dmi.bios.release: 6.0
dmi.bios.vendor: HP
dmi.bios.version: S80 Ver. 01.06.00
dmi.board.name: 8735
dmi.board.vendor: HP
dmi.board.version: KBC Version 09.25.00
dmi.chassis.type: 31
dmi.chassis.vendor: HP
dmi.ec.firmware.release: 9.37
dmi.modalias: dmi:bvnHP:bvrS80Ver.01.06.00:bd07/29/2021:br6.0:efr9.37:svnHP:pnHPProBookx360435G7:pvr:rvnHP:rn8735:rvrKBCVersion09.25.00:cvnHP:ct31:cvr:sku17G38UT#ABA:
dmi.product.family: 103C_5336AN HP ProBook x360
dmi.product.name: HP ProBook x360 435 G7
dmi.product.sku: 17G38UT#ABA
dmi.sys.vendor: HP
version.compiz: compiz N/A
version.libdrm2: libdrm2 2.4.107-8ubuntu1
version.libgl1-mesa-dri: libgl1-mesa-dri 21.2.2-1ubuntu1
version.libgl1-mesa-glx: libgl1-mesa-glx N/A
version.xserver-xorg-core: xserver-xorg-core 2:1.20.13-1ubuntu1
version.xserver-xorg-input-evdev: xserver-xorg-input-evdev N/A
version.xserver-xorg-video-ati: xserver-xorg-video-ati 1:19.1.0-2build1
version.xserver-xorg-video-intel: xserver-xorg-video-intel 2:2.99.917+git20200714-1ubuntu2
version.xserver-xorg-video-nouveau: xserver-xorg-video-nouveau 1:1.0.17-1build1

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Also, restarting i2c_hid_acpi usually makes the touchpad work again, although for some reason it disables natural scrolling. Additionally, restarting that module sometimes only makes the touchpad detected as a mouse so touchpad-specific functions dont work.