Wow, this is the answer. I've had this issue for as long as I can remember on my 2017 MacBook Pro (this issue + the terrible keyboard, even after a replacement, made that machine a piece of garbage). Just purchased a new 16" and had this issue on day 1. I finally sat and made a list of possible causes - apps, settings, etc. and came across this thread just as I was about to test different Power Nap options (always on, always off). In case anyone else was wondering I already tried enabling it for both while plugged in and on battery and that did not help the issue. It needs to be disabled both while plugged in and on battery. That's unfortunate. It makes Power Nap useless on these machines.
Also, the trigger for me seems to be this scenario: Using MacBook on battery power, close lid to sleep, plug in to charge, unplug from power, open to wake, crash and restart. I don't recall having the issue if I woke it while plugged in or if I woke it while still on battery power.