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USBGuard is available on Debian to authorize USB devices on your hosts. According to its documentation:

Default configuration

From DebianBullseye, when installing USBGuard, the daemon will be automatically started. All currently connected devices will be allowed to be used. When inserting a new device, if this device is not defined in the rules, it will be blocked.

/!\ Warning: USBGuard might block all USB devices on first installation or upgrade. If you have only USB keyboards you might be locked out of your system. It can also leave devices flagged as unauthorized on removal.

Manual recovery

To authorize all connected devices:

for d in /sys/bus/usb/devices/*/authorized; do echo 1 > $d; done