>>296032439
Unironically one of the major reasons I ordered an Index despite having a Rift S for less than 6 months was the constant software issues. Valve have done incredibly well getting most stuff working fine on Rift but it's pretty much all reverse engineered so there will always be issues. 

Some tips: Instead of restarting your PC you can restart the Oculus Runtime Service instead. Fixes most issues and will save you the time of restarting your PC. The crashing when you take it off is likely because the headset goes on standby - You can try covering the little sensor inside, just below the white LED, to stop this but instead your headset will always be running when you have it plugged in.