I too have this issue with both drivers. The Xpad driver seemed to work the best as far as being able to wake up from a sleep or suspend mode whereas the xboxdrv wouldn't work very well if at all doing this previously.
I have constant and random lock ups or more or less the controller just stops working period and I have to reboot the system to get back to where I was. This can happen within a game or just out in Emulationstation and going from game to game or using the bumpers to skip pages.
Here was the thing, the Xpad seemed to work flawlessly on 4.0 without any updates. But I'm one to keep my Pi3 and RetroPie totally up to date so I have updated daily and it's now showing as 4.0.1 and this was when I had to switch back to the xboxdrv from the Xpad driver. Again though neither are fully functional and stable by any means at least not for me and now on 4.0.1.