So the code above isn't explicitly using completionHandlers for the URL tasks
Is the expectation that await is essentially a "completionHandler" under the hood, and the problem is asynchronously interacting with background tasks from your app entirely?
You can't use async/await for BG tasks and you must only interact with a given BG task via the delegate?
polycamnick
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For posterity:
This can work by re-running a sceneDepth enabled WorldTrackingConfiguration after the RoomPlanSession's didStart delegate method is invoked