Hello,
Thank you for your post, I found it helpful (although I couldn't click the star to indicate this--a message window popped up to say "No other users found this helpful"--another bug in the apple)
I have successfully updated two devices (iPhone 5 and iPhone 6 plus) in the last three days and have received the "iTunes could not connect to this iPhone. The session ID is missing." message after each update.
Also, after a successful update, I got a message saying that it couldn't complete the update but the update was completed on my phone. Confusing, time-consuming and frustrating to not have these updates working smoothly after so many months of people reporting this issue.
Hope this information helps others who are having difficult updates.