You’ll get this warning if you don’t have rd.qubes.hide_all_usb or usbcore.authorized_default=0 option in grub:
if getargbool 0 rd.qubes.hide_all_usb; then
# Select all networking and USB devices
re='0(2|c03)'
elif ! getargbool 1 usbcore.authorized_default; then
# Select only networking devices, but enable USBguard
re='02'
usb_in_dom0=true
else
re='02'
warn 'USB in dom0 is not restricted. Consider rd.qubes.hide_all_usb or usbcore.authorized_default=0.'
fi