Phone Asked to Confirm New Passcode But I Didn't Change My Passcode

This morning, my iPhone XR flashed a message asking me to confirm my iPhone passcode. I thought it was odd, so I went to Settings, and saw a notification to "Confirm iPhone Passcode." When I clicked to expand, I saw:

Confirm iPhone Passcode

Confirm your iPhone passcode to keep using iCloud. You recently changed the passcode you use to unlock this iPhone. This passcode also protects access to data stored in iCloud.

Here's the issue: I did not recently (or ever) change my phone's passcode, so I'm finding this message/behavior kind of odd. Is there any reason why this message would appear for no reason whatsoever?

Thanks.