From what I've read, this is not a new problem, users have been reporting it for years - and since I'm not a Trezor user, I'll post a few links that might be helpful.
https://www.reddit.com/r/Electrum/comments/ajo6f0/electrum_trezor_error/https://github.com/spesmilo/electrum/issues/2698https://github.com/spesmilo/electrum/issues/2100
Not just with multiple hardware wallets, issues with Electrum occur if you try to switch between different wallets (Ledger bitcoin accounts). If I use my Ledger together with wallet1 on Electrum, I can't simply click on File > Open in Electrum and open up Wallet2 for example. There is always an error about the device not being recognized.
To open a new wallet without any restarts you simply need to exit the BTC app on Ledger and select it again - then you can open another wallet - at least that's how it works for me.