This problem has bugged me years ago, but it's solved when I started to use Windows 7 as my CARPC OS.
This OS is smarter than XP since it will wait for devices to wake up.
There is no way to make USB devices to wake up sooner since it is controlled by the drivers come with devices.
You can try to have RR resume delay for more seconds in RR.ini
As my experience tells me, at least 8 sec.