You don’t leak the xpub by simply making a transaction. If it does get leaked, it will reveal every address associated with your wallet.
But why do I need to create a new wallet on my hardware wallet then? If my xPub of the hardware wallet does not get leaked while sending my coins to Wasabi to make the coinjoin, I should be able to send my coins back after the coinjoin to the "old" hardware wallet?
Wasabi Wallet allows you to coinjoin to a hardware wallet. You will first need to create a standard wallet in Wasabi where your coins will be mixed and then create a second wallet that is connected to your hardware device. In the standard wallet you can go to the coinjoin settings menu and select the hardware wallet that your mixed coins will be transferred to.