This iPhone was previously in DFU mode, but restarted and is no longer in DFU mode” error.

I’ve had this issue with several devices lately, I try to reset them and after it downloads the software and extracts the old software I get the error message shown below. However the phone I’m trying to restore is still in DFU mode and hasnt been disconnected. I’ve had this issue happen with both older & newer devices (2018 iPad Pro, iPod touch 4G, now happening with a iPhone 3GS) eventually it did work on the iPad & iPod. Still trying to make it work on the 3GS. tried different computers, different cables, even tried it on an old Mac with OSx 10.5.7 installed. Same error every time. Is there anyway to fix this or do I just need to keep trying it. Seems like the restore process has gotten quite buggy lately