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If Rockbox is connected via USB with no sd card inserted and it is inserted, it offers the OS to mount the new drive.
If the sd card is removed and reinsterted again, it fails to offer and recognize it.

I could locate the problem in firmware/usbstack/usb_storage.c in the line

if(inserted && check_disk_present(IF_MD(volume))) {

after reinserting the card, check_disk_present fails to return true, so this check fails and the card isn't recognized anymore.