TM4C1290NCZAD: Invalid EPSR and instruction combination

Tool/software:

I'm working on a TI RTOS application with around 25 task and an average CPU load of < 20%. Recently I've discovered an issue where the application ends up in an exception as following:

ti.sysbios.family.arm.m3.Hwi: line 1095: E_hardFault: FORCED
ti.sysbios.family.arm.m3.Hwi: line 1207: E_usageFault: INVSTATE: Invalid EPSR and instruction combination
Exception occurred in ISR thread at PC = 0x2002afdc.
Core 0: Exception occurred in ThreadType_Hwi.
Hwi name: {unknown-instance-name}, handle: 0x20007058.
Hwi stack base: 0x20032098.
Hwi stack size: 0x800.
R0 = 0x00000022  R8  = 0x0008ce4c
R1 = 0x2002afdc  R9  = 0x0008baea
R2 = 0x40065000  R10 = 0x0008cfc0
R3 = 0x00059f3d  R11 = 0x0008cfb4
R4 = 0x200297f0  R12 = 0x17380300
R5 = 0x00000006  SP(R13) = 0x20032820
R6 = 0x00000001  LR(R14) = 0x00062fbb
R7 = 0x00000040  PC(R15) = 0x2002afdc
PSR = 0x80000062
ICSR = 0x00423003
MMFSR = 0x00
BFSR = 0x00
UFSR = 0x0002
HFSR = 0x40000000
DFSR = 0x00000001
MMAR = 0xe000ed34
BFAR = 0xe000ed38
AFSR = 0x00000000

I am able to reproduce the exception fairly reliably. The following points were identified:
- the error is related to accessing a mutex-protected resource,
- changing the timing behavior of tasks with sleep statements while the mutex is a trigger for raising the exception, but the time of occurrence is not determinable.

In principle, however, it is permitted for tasks to block indefinitely. Nevertheless, the exception occurs after some time and I cannot explain what the cause is. The address of the PC also raises questions.

Do you have any idea what causes such an exception?

TI SDK versions in use: