Connecting external displays over HDMI to 2016 MBP Touch Bar requires a restart Any time I connect my two external displays (Samsung S27D850 over HDMI -> A-Data HDMI-USB-C adapters), I have to restart my MacBook Pro Touch Bar (15") in order for the screens to display the desktop. 

Is there a workaround not having to do this, i.e., just plugging the displays in and voilà? It's frustrating coming back from a meeting to my workstation and having to restart.
I found a workaround for my setup with HDMI-USB-C-conversion: first plug the adapter to the computer, then the display cable to the adapter. Then the display works immediately.

If I plugged the monitor first into the adapter, it already "gives a signal" by showing a black screen instead of the "no signal" message. If I then connect the adapter to the computer with the monitor cable plugged into the adapter already, the display would detect, but the black screen would remain on the external display.

Not perfect for workstation use, but for meeting room situations, it's acceptable.