ADB stops working followed by failed unbricking

SKA

I’m having trouble recovering a couple voxl2 minis (M0104). Here’s what I observed and tried so far:

The minis were working normally on a reliable power supply.
Minor issues occurred (in one case voxl-camera-server segfaulted, in another I tried a custom binary). This may not be relevant.
Units continued to boot normally for 3–4 power cycles.
On the 4th or 5th restart, they stopped booting:
- LEDs show D1 + DS2 solid immediately.
- Sometimes they briefly show D1 + D2 solid before going back to D1 + DS2.
- Tried adb in those rare instances where D1 + D2 were on, didn't work
Tried powering with nothing connected, same result.
Tried unbricking procedure:
- Board recognized as a QDL device (web UI and lsusb both show the QDL device).
- Attempting “Flash Flat Build” with VOXL2 QDL Image 14.1a_1.7.8 always times out.
- I couldn’t find a voxl2 mini specific flat build, and in the latest voxl2 mini SDK there's no ufs directory as described here

My questions:

Is there a separate QDL flat build for the voxl2 mini (M0104), or should the standard voxl 2 flat builds work?
Since I’d prefer to recover data if possible, is there any way to get the board into fastboot or ADB without reflashing?
Does the LED pattern (D1+DS2 solid, sometimes briefly D1+D2) indicate anything specific about the boot state?

Any help would be greatly appreciated, thank you!