If the problem doesn't happen when booting into Safe Mode, then that warrants some digging into.
Below are Apple's kexts that Safe Mode doesn't load when I boot up my Macbook:
AppleFIVRDriver.kext
AppleHDA.kext
AppleHDAController.kext
AppleHDAHardwareConfigDriver.kext
AppleHV.kext
AppleIntelHD4000Graphics.kext (2012 rMBP, yours will probably be AppleIntelHD5000Graphics.kext instead)
AppleIntelSlowAdaptiveClocking.kext
AppleMikeyDriver.kext
AppleMikeyHIDDriver.kext
AppleOSXWatchdog.kext
ApplePlatformEnabler.kext
AppleSSE.kext
AppleThunderboltDPOutAdapter.kext
AppleThunderboltEDMSink.kext
AppleThunderboltIP.kext
AppleUpstreamUserClient.kext
AudioAUUC.kext
DspFuncLib.kext
IOAudioFamily.kext
IOBluetoothSerialManager.kext
IOHDAFamily.kext
IOSerialFamily.kext
IOSlowAdaptiveClockingFamily.kext
IOUserEthernet.kext
Libm.kext
OSvKernDSPLib.kext
pmtelemetry.kext
vecLib.kext
What I'd try if I were you is boot into safe mode, and take a snapshot of the all the kexts it loads (about this mac->system report->software->extensions), restart, and log in without safe mode and take a snapshot of all kexts loaded and compare the two. You'll end up with a list similar to the one above. Please note that I'm running Sierra 10.12.6
At this point, if SIP isn't disabled then it's better to disable it before proceeding.
What you'll want do next is go to /System/Library/Extensions and move those kexts to another folder, and then start terminal and type in
sudo kextcache -i /
in order to rebuild kext cache and then restart the machine. If the system boots up without a problem, then one (or more) of those kext files is the culprit and that would give you an idea about which corresponding hardware part it communicates with which might be problematic.
Now copy back each of those kexts, one at a time, to the kext extensions folder, and enter the command above via Terminal and restart. Repeat this process until the problem reappears.
Once you've identified the problematic kexts, you can temporarily remove the kext(s) in question and restore the rest, in order to have a temporarily functioning laptop. You can then research some more about what the kext exactly does so you can understand why it's causing your mac trouble and which hardware part it's controlling which might be defective.
What you do next is up to you. Take it to Apple, or a local shop, or try to fix it yourself, or do nothing at all. Good luck.