Apple Watch not unlocking macs

I have a version 6 on watchOS 7.1. A week or two ago it stopped unlocking both my macs (2018 mac-mini & 2019 MacBook Pro 13). It seems to function normally otherwise. I've tried many of the other remedies to fix this issue found on this forum involving deleting files and removing keychain items but it doesn't work.

In the mac logs (running `log stream --predicate 'category == "AutoUnlock"'` in the terminal) I see a few seemingly relevant lines:

success = NO, identifier = XXX, time = 0.00, error = Error Domain=com.apple.identityservices.error Code=200 "(null)" UserInfo={NSUnderlyingError=0x7f7f3e1734f0 {Error Domain=com.apple.ids.idssenderrordomain Code=29 "(null)"}}

Pairing lock session notifying delegate with error: Error Domain=SFAutoUnlockErrorDomain Code=151 "Setup request failed" UserInfo={NSLocalizedDescription=Setup request failed}

Any thoughts or other things I can try?