I have a similar issue with an active GTAC case open. GTAC has reviewed my DHCP bootprelay configuration and routing.
Environment: X450-G2 Summit with 16.1.3.6 code
Scenario: Data untagged, voice tagged. A Siemens Unify phone will randomly not obtain an IP from VLAN ID discovery through DHCP. Doesn't matter which switchport. We have 802.1x and MAC auth enabled. Disabling MAC authentication on the port seems to always allow the phone to complete its DHCP discovery process. When a phone does not pull an IP, the MAC is not learned in the voice vlan.
I have found 3 ways to get the phone to work in the meantime 1) Disable netlogin mac on the port 2) Run a disable port x followed by enable port x commands 3) Move the phone to a different switchport.
Disabling inline-power to the switchport, physically unplugging the phone and plugging it back in, replacing the phone with a new phone, replacing the patch cable all have no affect. DHCP PCs (using untagged data vlan) using the phone's pass through work fine all of the time.
We run the same configuration on many K-Series, S-Series, N-Series and have no issues with Unify phones.