Raspberry Pi NoIR camera hangs
By looking at your kernel messages, specifically the line containing '__vb2_queue_cancel', I think your problem may partially be related to Raspberry's kernel drivers. Have you checked if your kernel contains the fix given at [1]? If not, applying that oneliner may fix your problem.
For some reason your camera application is stopping video capture and due to the aformentioned bug it fails to do so. This may at least give you a chance to restart your capture pipeline.
[1] https://github.com/6by9/linux/commit/f1e870c2c910d0620b1a48ac7165c8f9e9a75527