rclcpp failed to send response to service client

When calling a service I will sometimes (quite often), get an error message:
[controller_manager.rclcpp]: failed to send response to /controller_manager/list_controllers (timeout): client will not receive response, at ./src/rmw_response.cpp:153, at ./src/rcl/service.c:400
This happens sometimes with any service I call, but especially list_controllers and switch_controllers seem to throw this error a lot (but not every time). When it happens the service will just hang, presumably because it never received a response.
It is specifically happening while i am using the Universal Robots ROS2 driver, but I don't think that is related.
I am running the driver (and therefore ROS2) in a vscode devcontainer (docker container), and i dont know if that could be related?
I am running ROS Jazzy, built from binaries (the devcontainer is built with FROM ros:jazzy).

Start by reproducing calls to list_controllers and switch_controllers in the ROS Jazzy Docker devcontainer, then inspect the reported locations ./src/rmw_response.cpp:153 and ./src/rcl/service.c:400. Compare successful and failed service calls, including the Universal Robots driver setup. Done means identifying the cause of the intermittent timeout and preventing the service from hanging without a response.