Thank you for looking into it. It is really weird that only I have the problem. I will try looking into this further in the coming weekend.
UPDATE: I tried a rmmod ath10k_pci followed by a modprobe ath10k_pci and the driver loaded in a reasonable timeframe:
[235775.719206] ath10k_pci 0001:01:00.0: peer-unmap-event: unknown peer id 0
[235775.719345] ath10k_pci 0001:01:00.0: peer-unmap-event: unknown peer id 0
[235775.725031] ath10k_pci 0001:01:00.0: peer-unmap-event: unknown peer id 0
[235775.833272] br-lan: port 2(wlan1) entered disabled state
[235775.853351] device wlan1 left promiscuous mode
[235775.853408] br-lan: port 2(wlan1) entered disabled state
[235776.095841] ath10k_pci 0001:01:00.0: disabling bus mastering
[235776.099762] ath10k_pci 0000:01:00.0: peer-unmap-event: unknown peer id 0
[235776.100584] ath10k_pci 0000:01:00.0: peer-unmap-event: unknown peer id 0
[235776.107455] ath10k_pci 0000:01:00.0: peer-unmap-event: unknown peer id 0
[235776.205203] br-lan: port 3(wlan0) entered disabled state
[235776.219188] device wlan0 left promiscuous mode
[235776.219231] br-lan: port 3(wlan0) entered disabled state
[235776.385919] ath10k_pci 0000:01:00.0: disabling bus mastering
[235784.439962] ath10k_pci 0000:01:00.0: assign IRQ: got 67
[235784.439999] ath10k 4.19 driver, optimized for CT firmware, probing pci device: 0x46.
[235784.444802] ath10k_pci 0000:01:00.0: enabling bus mastering
[235784.452608] ath10k_pci 0000:01:00.0: pci irq msi oper_irq_mode 2 irq_mode 0 reset_mode 0
[235784.627612] ath10k_pci 0000:01:00.0: Direct firmware load for ath10k/fwcfg-pci-0000:01:00.0.txt failed with error -2
[235784.627656] ath10k_pci 0000:01:00.0: Falling back to user helper
[235784.666507] firmware ath10k!fwcfg-pci-0000:01:00.0.txt: firmware_loading_store: map pages failed
[235784.666921] ath10k_pci 0000:01:00.0: Direct firmware load for ath10k/QCA9984/hw1.0/ct-firmware-5.bin failed with error -2
[235784.674411] ath10k_pci 0000:01:00.0: Falling back to user helper
[235784.736912] firmware ath10k!QCA9984!hw1.0!ct-firmware-5.bin: firmware_loading_store: map pages failed
[235784.737221] ath10k_pci 0000:01:00.0: Direct firmware load for ath10k/QCA9984/hw1.0/ct-firmware-2.bin failed with error -2
[235784.745131] ath10k_pci 0000:01:00.0: Falling back to user helper
[235784.794166] firmware ath10k!QCA9984!hw1.0!ct-firmware-2.bin: firmware_loading_store: map pages failed
[235784.794435] ath10k_pci 0000:01:00.0: Direct firmware load for ath10k/QCA9984/hw1.0/firmware-6.bin failed with error -2
[235784.802517] ath10k_pci 0000:01:00.0: Falling back to user helper
[235784.856651] firmware ath10k!QCA9984!hw1.0!firmware-6.bin: firmware_loading_store: map pages failed
[235784.858189] ath10k_pci 0000:01:00.0: qca9984/qca9994 hw1.0 target 0x01000000 chip_id 0x00000000 sub 168c:cafe
[235784.864521] ath10k_pci 0000:01:00.0: kconfig debug 0 debugfs 1 tracing 0 dfs 1 testmode 0
[235784.877649] ath10k_pci 0000:01:00.0: firmware ver 10.4b-ct-9984-fW-012-54863dff2 api 5 features mfp,peer-flow-ctrl,txstatus-noack,wmi-10.x-CT,ratemask-CT,regdump-CT,txrate-CT,flush-all-CT,pingpong-CT,ch-regs-CT,nop-CT,set-special-CT,tx-rc-CT,cust-stats-CT,txrate2-CT,beacon-cb-CT,wmi-block-ack-CT,wmi-bcn-rc-CT crc32 97790349
[235787.206912] ath10k_pci 0000:01:00.0: board_file api 2 bmi_id 0:1 crc32 85498734
[235793.056284] ath10k_pci 0000:01:00.0: 10.4 wmi init: vdevs: 16 peers: 48 tid: 96
[235793.056318] ath10k_pci 0000:01:00.0: msdu-desc: 2500 skid: 32
[235793.138131] ath10k_pci 0000:01:00.0: wmi print 'P 48/48 V 16 K 144 PH 176 T 186 msdu-desc: 2500 sw-crypt: 0 ct-sta: 0'
[235793.138958] ath10k_pci 0000:01:00.0: wmi print 'free: 81768 iram: 23364 sram: 14184'
[235793.395380] ath10k_pci 0000:01:00.0: htt-ver 2.2 wmi-op 6 htt-op 4 cal pre-cal-file max-sta 32 raw 0 hwcrypto 1
[235793.498739] ath: EEPROM regdomain: 0x0
[235793.498779] ath: EEPROM indicates default country code should be used
[235793.501392] ath: doing EEPROM country->regdmn map search
[235793.508132] ath: country maps to regdmn code: 0x3a
[235793.513457] ath: Country alpha2 being used: US
[235793.518302] ath: Regpair used: 0x3a
[235793.523081] ath: EEPROM regdomain: 0x8028
[235793.526590] ath: EEPROM indicates we should expect a country code
[235793.530392] ath: doing EEPROM country->regdmn map search
[235793.536650] ath: country maps to regdmn code: 0x37
[235793.542018] ath: Country alpha2 being used: AT
[235793.546799] ath: Regpair used: 0x37
[235793.551219] ath: regdomain 0x8028 dynamically updated by user
[235793.560858] ath10k_pci 0001:01:00.0: assign IRQ: got 100
[235793.560906] ath10k 4.19 driver, optimized for CT firmware, probing pci device: 0x46.
[235793.566926] ath10k_pci 0001:01:00.0: enabling bus mastering
[235793.574520] ath10k_pci 0001:01:00.0: pci irq msi oper_irq_mode 2 irq_mode 0 reset_mode 0
[235793.750817] ath10k_pci 0001:01:00.0: Direct firmware load for ath10k/fwcfg-pci-0001:01:00.0.txt failed with error -2
[235793.750853] ath10k_pci 0001:01:00.0: Falling back to user helper
[235794.067085] firmware ath10k!fwcfg-pci-0001:01:00.0.txt: firmware_loading_store: map pages failed
[235794.067555] ath10k_pci 0001:01:00.0: Direct firmware load for ath10k/QCA9984/hw1.0/ct-firmware-5.bin failed with error -2
[235794.074990] ath10k_pci 0001:01:00.0: Falling back to user helper
[235794.136451] firmware ath10k!QCA9984!hw1.0!ct-firmware-5.bin: firmware_loading_store: map pages failed
[235794.136674] ath10k_pci 0001:01:00.0: Direct firmware load for ath10k/QCA9984/hw1.0/ct-firmware-2.bin failed with error -2
[235794.144712] ath10k_pci 0001:01:00.0: Falling back to user helper
[235794.205976] firmware ath10k!QCA9984!hw1.0!ct-firmware-2.bin: firmware_loading_store: map pages failed
[235794.206201] ath10k_pci 0001:01:00.0: Direct firmware load for ath10k/QCA9984/hw1.0/firmware-6.bin failed with error -2
[235794.214330] ath10k_pci 0001:01:00.0: Falling back to user helper
[235794.275302] firmware ath10k!QCA9984!hw1.0!firmware-6.bin: firmware_loading_store: map pages failed
[235794.275657] ath10k_pci 0001:01:00.0: qca9984/qca9994 hw1.0 target 0x01000000 chip_id 0x00000000 sub 168c:cafe
[235794.283198] ath10k_pci 0001:01:00.0: kconfig debug 0 debugfs 1 tracing 0 dfs 1 testmode 0
[235794.295991] ath10k_pci 0001:01:00.0: firmware ver 10.4b-ct-9984-fW-012-54863dff2 api 5 features mfp,peer-flow-ctrl,txstatus-noack,wmi-10.x-CT,ratemask-CT,regdump-CT,txrate-CT,flush-all-CT,pingpong-CT,ch-regs-CT,nop-CT,set-special-CT,tx-rc-CT,cust-stats-CT,txrate2-CT,beacon-cb-CT,wmi-block-ack-CT,wmi-bcn-rc-CT crc32 97790349
[235796.662476] ath10k_pci 0001:01:00.0: board_file api 2 bmi_id 0:2 crc32 85498734
[235799.536869] ath10k_pci 0000:01:00.0: 10.4 wmi init: vdevs: 16 peers: 48 tid: 96
[235799.536903] ath10k_pci 0000:01:00.0: msdu-desc: 2500 skid: 32
[235799.618234] ath10k_pci 0000:01:00.0: wmi print 'P 48/48 V 16 K 144 PH 176 T 186 msdu-desc: 2500 sw-crypt: 0 ct-sta: 0'
[235799.619070] ath10k_pci 0000:01:00.0: wmi print 'free: 81768 iram: 23364 sram: 14184'
[235799.973688] ath10k_pci 0000:01:00.0: Firmware lacks feature flag indicating a retry limit of > 2 is OK, requested limit: 4
As a result I think the firmware-loading part is not the actual culprit. Maybe something else is causing this because the problem only exists at boot-time...