This can also help if someone else get stuck in the same error:
Error: Failed to execute 'claimInterface' on 'USBDevice': Unable to claim interface
"Working around fwupd bug on Linux distributions
Debian stable and Ubuntu have an outdated fwupd package with a bug breaking connecting to Android's bootloader interface (fastboot) while fwupd is running since it tries to connect to arbitrary devices. This section can be skipped on Arch Linux and other distributions with fwupd 1.9.10 or later since we reported the bug and it was fixed. This never impacted Android or ChromeOS.
You can stop fwupd with the following command:
sudo systemctl stop fwupd.service"