I get the same issue when trying to upload directly on my MacBook's USB ports. Plugged into my iMac via a hub was fine. Will experiment with more combinations later and report back.
Also, I sometimes got this error with the MacBook direct method:
Assertion failed: (res >= 4), function micronucleus_connect, file library/micronucleus_lib.c, line 63.
> Please plug in the device ...
> Press CTRL+C to terminate the program.