Here is a solution.
urlSession is called twice. The second time challenge.protectionSpace.serverTrust is nil. I'm still trying to fully understand this so any help is appreciated. This implementation is not secure and should only be used for testing.
This code has been built and tested with Swift 5, iOS 14 running on the simulator in Xcode 12.2.
import Foundation
import Combine
class myClass: NSObject, URLSessionDelegate {
		var ip: String
		var directorBearerToken: String
		var baseURI: String
		private var getRequestCancellable: AnyCancellable?
		private var getRequestPublisher = PassthroughSubject<Data, Never>()
		
		init(ip: String, token: String) {
				self.ip = ip
				self.directorBearerToken = token
				self.baseURI = "https://\(ip)"
		}
		
		// Get a JSON data with all the items
		func getAllItemInfo() -> PassthroughSubject<Data, Never> {
				let test = sendControllerGetRequest(uri: "/api/v1/items")
				return test
		}
		func sendControllerGetRequest(uri: String) -> PassthroughSubject<Data, Never>	{
				print("sendControllerGetRequest")
				getRequestPublisher = PassthroughSubject<Data, Never>()
				var urlRequest = URLRequest(url: URL(string: self.baseURI+uri)!)
				urlRequest.httpMethod = "GET"
				urlRequest.setValue("Bearer \(self.directorBearerToken)", forHTTPHeaderField: "Authorization")
				let configuration = URLSessionConfiguration.default
				let session = URLSession(configuration: configuration, delegate: self, delegateQueue: OperationQueue.main)
				getRequestCancellable = session.dataTaskPublisher(for: urlRequest)
						.map{ $0.data }
						.sink(receiveCompletion: { completion in
								switch completion {
								case .failure(let error):
										print("sendControllerGetRequest error")
										print(error)
								case .finished:
												print("sendControllerGetRequest finished")
												break
										}
								}, receiveValue: { requestDetails in
										print(String(data: requestDetails, encoding: .utf8)!)
										print("sendControllerGetRequest()")
										self.getRequestPublisher.send(requestDetails)
										self.getRequestPublisher.send(completion: .finished)
								}
						)
				return getRequestPublisher
		}
		func urlSession(_ session: URLSession, didReceive challenge: URLAuthenticationChallenge, completionHandler: @escaping (URLSession.AuthChallengeDisposition, URLCredential?) -> Void) {
				if challenge.protectionSpace.serverTrust == nil {
						completionHandler(.useCredential, nil)
				} else {
						let trust: SecTrust = challenge.protectionSpace.serverTrust!
						let credential = URLCredential(trust: trust)
						completionHandler(.useCredential, credential)
				}
		}
}
tommym
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Thanks, this solved the problem.