My late 2015 iMac has similar problem but running Catalina. Does not restart by itself, but nearly always fails to shut down normally, then restarts with the same kernel panic message. Sometimes the restart fails to enable Bluetooth, so the keyboard and mouse need to be plugged in to USB ports to get going again. Another restart usually clears it up. Alex's post confirms that upgrading to Big Sur won't help me. I've also seen posts about kernel panics on brand new Macs. I've tried disconnecting the external drive that serves Time Machine, but eventually I get kernel panics during shutdown. I've tried letting the machine sit idle all day, and get normal shutdown/restart. As soon as I start Internet browsing again, no matter which browser, and using email, after awhile I can count on a kernel panic on shutdown, even after normally quitting mail and browsers.
From this and other posts I conclude that system communications error checking since Catalina is looking for something that even new hardware can't deliver when peripherals are running.
I've gone into an Apple store to browse new Mac Books and told the sales guy I won't buy another Mac machine until they resolve Big Sur kernel panics. He said he never heard of the problem but assured me Apple pays attention to problems reported in forums. I said, Uh-huh. But I'm still not buying a new Mac until I hear it's fixed.
We need to keep posting about this.