Hello from 2023,
I had the same issue as you all guys facing, it took me 2 hours to solve !
**Here is the summary of what I have **
Macbook pro 2021 m1 pro.
Ipad 2015 wifi version.
Here are the steps I have done to fix this:
Sign out from IPAD
Sign in to IPAD
Sign out from Macbook pro
Sign in to MacBook pro
reboot both
Reset network settings from IPAD (General -> reset (or something close to that word) -> Reset network settings)
reboot both
Connect both using a wired connection (so that both can trust each other)
Reboot both
Now both can see each other & work great.
I recommend connecting both wired as the connection is way stronger, and it does not disconnect any frequently.
If it works for you upvote so that others can see it as well !