Settings - developer option have option to revoke authorization, try it. Possibly you accidentally denied earlier may cause it.PS C:\platform-tools> adb devices
List of devices attached
!!! ERROR: Unauthorized ADB device found.
I don't get adb popup even though I got USB option is enabled within developer option on my Note 10+ R05 build. I tried different USB cables, I can move files in between PC and phone with USB but no ADB Popup.