Getting AR Error Code 200: World Tracking Failed when starting an AR Session from a view that is using the camera

I am getting an AR Error code 200: World Tracking Failed when I try to start an AR Session from a view that is using presenting an AVPreviewLayer. The issue is intermittent, so it went undetected for a while. This was first discovered using iOS 13.3 and has proven to be consistantly reproducible accross multiple newer devices. As far as I can tell, it appears to be an ARKit bug. When the AVPreviewLayer is removed, the bug no longer occurs.