FIXED.
For those who've tried the other fixes in this comment thread, THIS is what I had to do to get my 12" iPad Pro's display connected to/through Sidecar. I connect to my 2019 MacBook Pro 15" i9 8 core model.
**What I did:
**
Open settings in iPad. Check upper Left your Name and Photo, and if you have errors related to iCloud, iCloud sync, or encryption errors, make the needed corrections and it should solve the connection issue. iPad and MacBook appear to need point to point encryption in order to allow that connection.
Hope this helps someone... Let me know!