Unable to connect to world when joining servers

This doesn't seem to be related to game logic but is probably some kind of authentication bug. Sometimes I get an "Unable to connect to world" error when joining any type of server, and it goes away after some time (2-4 hours) or when signing in and out of the Xbox app

Video of the bug:

https://www.youtube.com/watch?v=PemxZT8Fd-g