Having previously experienced this exact error and sequence last year, we were able to track it down (using the WMI tracing below) to a driver being pushed from a remote client.
Our resolution was to disable installation of removable devices through GPO [Computer > Policies > Administrative Templates > System > Device Installation > Device Installation Restrictions : Prevent installation of removable devices].
tThis was working well enough until the changes pushed through update for Print Nightmare, which interact negatively.
As for the hosts themselves, as you've probably already figured out the only recovery option we've found is to restart the affected server.