diff --git a/pybricksdev/connections/pybricks.py b/pybricksdev/connections/pybricks.py
index 8b76c1d..634b25e 100644
--- a/pybricksdev/connections/pybricks.py
+++ b/pybricksdev/connections/pybricks.py
@@ -946,8 +946,6 @@ def __init__(self, device: USBDevice):
         self._response_queue = asyncio.Queue[bytes]()
 
     async def _client_connect(self) -> bool:
-        # Reset is essential to ensure endpoints are in a good state.
-        self._device.reset()
         self._device.set_configuration()
 
         # Save input and output endpoints
@@ -964,6 +962,12 @@ async def _client_connect(self) -> bool:
             == ENDPOINT_OUT,
         )
 
+        # Clearing halt (even if not stalled) resets the even/odd state on the
+        # endpoints in case it was left in an invalid state by a previous
+        # connection.
+        self._ep_in.clear_halt()
+        self._ep_out.clear_halt()
+
         # There is 1 byte overhead for PybricksUsbMessageType
         self._max_write_size = self._ep_out.wMaxPacketSize - 1