Mac Pro 2013 crashes when trying to wake from sleep since upgrading to MacOS Catalina

I have Mac Pro 2013 that has started to have kernel panics when trying to wake from sleep since upgrading to Catalina. I have 2 monitors attached to thunderbolt ports: an Apple thunderbolt monitor and an Apple Cinema Monitor. I have reset the PRAM and SMC, but this didn't resolve the issue.

The panic trace includes the following message:

Wake transition timed out after 180 seconds while calling power state change callbacks. Suspected bundle: com.apple.driver.AppleThunderboltDPOutAdapter.

Any help would be very appreciated!