I absolutely agree with Damir's point that you need to (1) first, ensure all software/firmware is up to date, and then (2) find which component is at fault (I know, a real 'Captain Obvious' statement)!
Ensure iPad iOS is current, ensure ST is current, ensure the A&H mxer is current firmware.
What first jumped out at me was the Anker USB C hub. It's not clear which one you are using - a simple passive adapter or a 16-in-1 powered hub. I would go with something as simple as possible - a simple passive adapter/hub with the 2 USB ports you need to provide power for the iPad and connection to the mixer. I've always had really mixed results with fancy powered USB hubs over the years, even from name brands.
It is really weird that you say that the only resolution is to reboot the mixer and iPad. If accurate, that seems to imply that the interface on both devices is being left in a very 'confused' state. Again, that is why my initial suspicion would be the USB hub. I guess a very outside chance is it is the cable, but there is less that can go wrong in a cable, than the hub. Anyway, both are cheap to purchase spares to swap out and test the theory.
EDIT: Oh, I just had another thought. Are you running any other apps in the background on your iPad that might be 'doing stuff'? E.g. A&H/3rd party Mixer app, another audio app, some app driving video output, etc.? If so, try to eliminate those.
I have been using Multitrack audio on an iPad (initiall Gen4, now Gen9) feeding into a Behringer X32 rack mixer via USB interface for over 6 months without any issue. It has worked first time every time I've plugged it in (touch wood) and I've never had audio drop-outs or scenarios requiring the mixer or iPad to need to be rebooted.