In a recent Windows 10 build I started receiving this error randomly on different hard drives. I noticed the error was always happening to drives connected to a separate PCI SATA controller card and the drives connected directly to the motherboard SATA never had this error. The issues appears to be that the PCI controller card will go into a sleep state and does not wake up quickly enough when the hard drive is accessed.
Two changes seem to have resolved this issue.
And the second is to disable the PCI Express Native Power Management in my motherboard BIOS. I’m not sure if both are required, but these 2 steps eliminated the error.