Logging into iCloud.com didn't work for me, but logging out of my iCloud account on my mac, logging back in, then restarting did the trick for me.
brandav
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Same issue. I cleared xcode authentication tokens from Keychain Access and tried importing my Apple ID from my other macbook but it still keeps showing the "Your session has expired. Please log in." error. Xcode 13.4.1, M1, Monterey 12.3