I have an AuraHD fw 3.19.5761 and a laptop with Windows 10 Home (Build 14393.rs1_release.161220-1747 to be precise). I don't use the AuraHD much anymore but I haven't had any problems connecting it to the laptop using the Kobo's own cable in a USB 3 port. I tried it again, just now - still no problem.
As to workarounds ... I don't know whether doing the following is the reason why I'm not having any problems, but I'll tell you anyway. The Win10 vs. Kobo USB problems arose whilst I still had a Win7 PC.
This post suggested a possible solution (MiniTool Partition Wizard) for Win10 users so I applied it to all my Kobo devices as a kind of pre-emptive strike 'just in case'. When I got a new laptop in October it quickly upgraded itself to Win10 Anniv. Ed. All the Kobos I'd applied the 'fix' to worked OK after the AE upgrade.