TimeOut when doing PoppyHumanoid()

We already see motors come back to initial configuration we don’t know exactly why but this is probably a wrang connection on a wire (12v on the data line?). Your two problem could be the same, you have a failing wire somewhere.
This kind of problem is really dificult to locate, you have to test it one by one.
At this time we don’t have any workaround about cables. @Thot add some external protection and group his wire together but wires are extremely sought and they get old really fast. You will probably have to change it once a year!