Device Driver Not Loading after system reboot

I have UMDF virtual serial driver. When it is installed, it is working fine. But when after system is rebooted, it is listed with a exclamation in Device manager.

“This device is not working properly because Windows cannot load the drivers required for this device. (Code 31)
The ALPC message requested is no longer available.”

But if it is disable and enable it again, it works fine. I don’t know what is the root cause of this issue.

Also if two device is installed (any Number is fine), the first one will behave as above. The rest of the devices working fine after reboot.