You can see the earlier reply from jzairik yesterday who said Apple replaced some hardware in his phone which somehow fixed the problem, so if that option is available to you, perhaps that is best. In my case -- which is also open with Apple for some months now -- a hardware replacement was not offered (my phone is out of warranty). (Also, Apple investigated my XS Max extensively (online and in the store) and found no hardware problems.) Anyhow...
I continue to experience the same problem as you (with Sweden instead of Canada in my case for the SIM), but ATT eSIM for US line. Every time Apple upgrades iOS, i hope that there is some fix pushed out, but so far nothing has happened. As soon as the phone updates (or in some cases after a shutdown/restart), the eSIM line in particular has SIM failure.) However, I have been able to get by, and I try to explain what I do though there is some randomness to the success rate, so I can't guarantee this would work for you. (I should also mention that the last time I was able to get both lines working, I made sure WiFi calling was turned on for the ATT eSIM. When there is no WiFi available, the eSIM uses the cellular data from SIM line (Sweden Telenor 4G). This seems to keep the ATT eSIM line alive. So if you get the eSIM back online, maybe turn the WiFi calling 'on' to keep the line working. I think the eSIM fails eventually otherwise, and you're back to square one. )
Here's how I proceed. When I get the SIM failure message after an iOS upgrade or restart (sometimes it's for both lines after an iOS upgrade), the phone should be connected to WiFi. I wait about 30-60 minutes before restarting the phone as perhaps there is some resettling of the iOS going on which needs to complete. Then I turn off the phone and restart. Usually, the SIM reconnects to the network at this point (or after another shutdown/restart), and I have Swedish line back. But the eSIM fails (even though the phone remembers the eSIM line information -- I can see the US number under 'cellular' section in General, but it says 'no SIM' next to the number.) I turn off the phone, pull out the SIM and restart. Usually, one gets SIM failure message again after restart (rather than just 'no SIM'). so I insert the SIM and the Swedish line reconnects. I repeat the procedure of turning the phone off and restarting (sometimes removing SIM and re-inserting after restart, other times just leaving the SIM in, and letting the SIM failure occur.) Eventually, the eSIM line reactivates - sometimes at first with a very strong signal which collapses to WiFi calling with 'weak' signal strength. I don't know why the eSIM line won't reconnect to telecom network after this transition to WiFi calling, but since it stays 'on', I stop playing with things until the next time I have to upgrade/restart the phone. I find that once the eSIM is back online with WiFi calling, it is pretty stable. (I don't use the US number for much of anything in Sweden except to receive notification of calls on US line. I don't have data roaming turned on for US number or use any of ATT's international data plans either in Sweden.)
Sorry for the rambling, long thread here. But you can see that the 'solution' is just to keep trying to turn your phone off and on (with SIM out or not, and reinserted) until the eSIM line reconnects. If this sounds like a random 'solution', I agree, but it has worked for months now. The fact that this problem exists across iPhone models makes me believe it is not a hardware problem, but a software problem which Apple or ATT have not identified or properly assigned 'blame' in order to get it fixed.
Because of pandemic, I also have not been able to visit the US since March, so I don't know what will happen when I try to use the eSIM as primary line in US. (It worked fine on previous travels to US, but that was before the SIM failure message started happening some time in iOS 13.x, I forget precisely which iOS 13 upgrade started having the problem.)
My case with Apple Care (who handle software problems for iOS) is still open, but no one is responding to my queries when I ask 'how's it going?' -- so no idea if anyone in the software department is actually working on identifying the problem/solution. If you can keep pushing from your side, perhaps this problem will finally rise to a level where some attention is given to it.
Until then, please try and see if the eSIM line recovers on its own by forcing the phone to try and activate it again. (I also get the eSIM not supported message blah blah when I put the QR code in the camera after a eSIM failure and restart so I don't think that has anything to do with the solution, just part of the problem.)