this is not normal for standard norns*, and i can’t reproduce it with the current of the norns software. (that is, assuming i am understanding your report correctly, which seems to indicate that you cannot access any MIDI functionality without rebooting after a device is plugged. it is always helpful to be specific about what actions you took, what you expected to happen, and what actually happened.)
what i’m seeing is:
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hotplugged devices are immediately usable/mappable, are automatically assigned to open device slots in SYSTEM > DEVICES > MIDI, and are immediately available as selections when manually assigning those slots.
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devices that are already plugged on boot are also immediately usable/mappable, and also immediately available as selections for slot assignment, but are not automatically assigned to empty slots. if you assigned them before, (or if they were assigned automatically from hotplugging,) those assignments are retained between SLEEP/boot cycles.
i did not design or implement the midi mapping subsystem, but i believe this is intended behavior and it basically makes sense to me, because otherwise you would not be able to manually clear a slot and have that decision be persistent. (though i agree it would be more intuitive if behavior at boot were more congruent with hotplugging behavior, somehow.)
i don’t know exactly what this means. did you use SLEEP, then power up, then use SYSTEM > RESET? (since v2.3, RESET will clear all system state and MIDI mappings and restart the software. it does not shut down the computer.)
in normal operation you should always just shut down with SLEEP, then pull power, then connect power again to boot up.
(* my one caveat is that the device monitoring source is one place where the fates fork has diverged, but i’m pretty confident that the midi device detection functionality is unchanged and unhindered.)