I’ve had this issue on multiple devices (iPhone 6S Plus, iPhone 7, iPhone XR, 2018 11” iPad Pro) on 13.3.1 and 13.4, and it came back a few days after resetting through Finder and setting up as new. All the devices are on different iCloud accounts. On the 6S Plus and 7, the CPU usage would constantly be at 100%. For the newer devices, it was bouncing between 50% and 75%. What ended up working for me was signing out of iCloud, signing back in, and then disabling and deleting Siri from Settings - My Name - iCloud - Manage Storage - Disable and Delete. It’s been about a week, and I haven’t seen the issue again.