MacBook Pro Mouse and Keyboard freeze after opening the Lid
UPDATE: The NVRAM reset ended up being only a temporary fix. The answer here was the real solution. The problem seems to either be with VM software or closing the lid with a VPN running (the latter was the problem for me). Disconnecting from the VPN before closing the lid fixed the problem.
Original post:
This is a bit late, but resetting the NVRAM seemed to work for me:

Restart your laptop
When the Apple logo comes on screen, press and hold option + command + P + R
The logo should go away and come back after a few seconds, and hopefully that should be it!