It's happened with and without twrp installed.
It's happened after regular flash-all, it's happened when '-w' is removed. There's no way out of it, flashing images, bootloader or boot.img or whatever separately, flashing twrp, switching between a/b partitions, nothing changes it. Sometimes the banner reads ERROR: Slot Unbootable: Load Error. Then upon reboot it goes back to bootloader, but now with a yellow banner at the bottom - ERROR: LoadImageAndAuth Failed: Load Error. All looks good, every part of installation says OKAY, no fails. Basically, I download the factory image from google's image page, flash-all using adb/fastboot. Wondering if many others of you have run across this, what causes it, and how to avoid it.