I'm experiencing a similar issue with the same chipset on my Debian while using 5GHz networks. Everything works as expected using 2.4Ghz ones.
I tested all the ones available at https://github.com/kvalo/ath10k-firmware/tree/master/QCA9377/hw1.0
and the very same problem persisted using all the three API6 files (i.e. firmware-6.bin_*).
The latest (in terms of release date) API5 file firmware-5.bin_WLAN.TF.1.0-00023-QCATFSWPZ-1 seemed to work much better but I still experienced the issue after few solid hours.
Eventually, the file firmware-5.bin_CNSS.TF.1.0-00267-QCATFSWPZ-1 seems to be the most stable on my Lenovo Ideapad 320 using:
Network controller: Qualcomm Atheros QCA9377 802.11ac Wireless Network Adapter (rev 31)
So try renaming the existing firmware-5.bin and firmware-6.bin files under /lib/firmware/ath10k/QCA9377/hw1.0/
and use the firmware version I've mentioned. In other words...
$ cd /lib/firmware/ath10k/QCA9377/hw1.0/
$ sudo mv firmware-5.bin firmware-5.bin.orig
$ sudo mv firmware-6.bin firmware-6.bin.orig
$ sudo wget "https://github.com/kvalo/ath10k-firmware/blob/master/QCA9377/hw1.0/CNSS.TF.1.0/firmware-5.bin_CNSS.TF.1.0-00267-QCATFSWPZ-1?raw=true" -O firmware-5.bin
Now load the new firmware and double-check
$ sudo modprobe -r ath10k_pci
$ sudo modprobe ath10k_pci
$ sudo dmesg | grep ath10k
ath10k_pci 0000:01:00.0: firmware: direct-loading firmware ath10k/QCA9377/hw1.0/firmware-5.bin
ath10k_pci 0000:01:00.0: qca9377 hw1.1 target 0x05020001 chip_id 0x003821ff sub 17aa:0901
ath10k_pci 0000:01:00.0: kconfig debug 0 debugfs 0 tracing 0 dfs 0 testmode 0
ath10k_pci 0000:01:00.0: firmware ver CNSS.TF.1.0-00267-QCATFSWPZ-1 api 5 features ignore-otp crc32 d6b81b3c
ath10k_pci 0000:01:00.0: firmware: direct-loading firmware ath10k/QCA9377/hw1.0/board-2.bin
ath10k_pci 0000:01:00.0: board_file api 2 bmi_id N/A crc32 8aedfa4a
ath10k_pci 0000:01:00.0: unsupported HTC service id: 1536
ath10k_pci 0000:01:00.0: htt-ver 3.1 wmi-op 4 htt-op 3 cal otp max-sta 32 raw 0 hwcrypto 1
Make sure the version id just next to firmware ver matches.