I'm on Ventura but having the same issues still with my MacStudio. My enclosure is Thunderbolt 3.
We hope the end of this saga is near. (I am hoping 13.4 will fix this) Your choices in the meantime are:
The problem is the IO Controller (DART) is crashing, DART controls Thunderbolt for example. Since it is caused by a hardware problem, we can not work around it, we have to wait for Apple.
There are three possible workarounds until this gets fixed.
In Ventura, the most permanent solution is option 3, but here are the the three that can work, in reverse order of effectiveness:
1. when you restart, have your unit disconnected for about 5 minutes, then plug it in.
2. Pull out one drive slightly, so your system starts, then after 5 minutes, push it in.
3. Delete your volume (erases all data) and create it again, selecting 64k Stripe unit size when prompted.
This work most all of the time.

