I prefer using Azure Data Studio when I need to interact with SQL Server databases.
Each time I want to connect to our production databases I need to elevate using Privileged Identity Management.
Azure Data Studio caches my token but isn't smart enough to handle when the token has expired, instead I get this modal.

The solution to this is to delete the files located %userprofile%\AppData\Roaming\azuredatastudio\Azure Accounts, either manually or by using this powershell script:

Get-ChildItem "$($env:userprofile)\AppData\Roaming\azuredatastudio\Azure Accounts" | Remove-Item