As I read your dmesg, I had a similar problem, see here: USB SATA device disconnect randomly
After two months I decided to reinstall the whole Raspbian, and the problem is gone!
It was a very hard decision, because of I had a fully configured server (Apache + PHP, Nextcloud, RAID1, FTP, Smaba, Plex, qBittorrent, etc.).
Make a backup from your SD card (or get / buy a new one), reinstall the OS, install the rockpi-sata driver, and wait a few hours/1-2 days.
If the problem not encounters, you have to reconfigure everything on the freshly installed OS, but your problem is solved.