Same issue, handoff and sidecar weren't working.
A collection of the steps above and my experience:
Sign out of icloud on each device (ipad, mac etc..), upon resigning in a new security setup has been designed (input pin/password for multiple devices). Then recheck map my... on each device - make sure its on (with location services). Forget devices bluetooth and then reconnect (make sure bluetooth connect between devices is maintained - not auto disconnecting).
Go onto icloud on each device and make sure you can see your device list (if its loading or unavailable that will lead to handoff/sidecar not working) - fix that on all devices after the resigning.
Hope this helps some...