I don't think you're supposed to close the queue more than once. The documentation can be improved on that. Currently the documentation of close is:

close()
Indicate that no more data will be put on this queue by the current process. The background thread will quit once it has flushed all buffered data to the pipe. This is called automatically when the queue is garbage collected.

https://docs.python.org/3/library/multiprocessing.html#multiprocessing.Queue.close

That could be read to imply to each process needs to indicate when it is done.