I found an FTDI device and was able to duplicate what you described. If the device is connected at boot it works, but if you disconnect it the device disappears from /dev/. If you connect it again it will not reappear until after a reboot.
Unfortunately this is exactly what you describe: how to force macOS to check for connected devices and repopulate /dev/, and I don't have the answer.
What part of the system loads these devices?
Good question. This does not happen on Linux (for example). Connecting a device on a Linux system causes it to appear in /dev/. No reboot required. As to which part of the system loads it, I suspect there is another part of the system preventing it from appearing.
It seems to me this is new behavior for macOS. We can only speculate as to the cause, and I suspect it was in response to macOS's overbearing approach to system security. My only suggestion is to file Feedback and tell Apple to restore what I believe was prior behavior.
More than likely though, it's what I suspect: an overzealous approach to security, and if that's the reason you'll be arguing with a brick wall. I'd take your question to Ask Different or somewhere else where people delve into these things.