Having the exact same problem here with a MacBook Pro late 2016 with touchbar.
I think it has something to do with the serie of problems people experienced since the the 10.15.4 update (Kernel Panic on wake up). https://discussions.apple.com/thread/251219600
I managed to work around the problem by disabling Power Nap in the Energy Saver control panel and then by turning off the sleep mode altogether, but yet I still need to reset SMC everytime I try to restart after the lid has been closed.
Very annoying.