Contents of my iPhone cannot be read

Whenever I connect my iPhone to my iMac to sync music, I am getting a pop up box that states: "The contents of this iPhone "IPHONE NAME" could not be read. Click Restore to restore this iPhone to factory settings."

I'm using an iPhone 8 running iOS 13.3, and my iMac is running macOS Catalina 10.15.2.

Do I need to fully restore and use my cloud back up, or is there another less annoying way to sync my device?

Thanks in advance.