I'm genuinely surprised this isn't a more popular issue. 

Whenever I go back into Minecraft after it was suspended, the pause menu says "Oops! Your Microsoft account was disconnected." While in this state, I can't join realms, servers, or friend's worlds, and they can't join any of my worlds. The only way to solve this is to restart the game. The game also becomes un-joinable after I switch worlds, and I have to restart Minecraft. This happens to several of my friends, across PS4, another Xbox One S, a Nintendo Switch, An iPhone running iOS 14, and an iPad.

I said this was a 1.16.100 issue, but I have been experiencing this since before 1.16.0