Unexpected session termination "NFFieldNotification" not loaded or does not exist

While scanning an NFC device sending out an NFC NDEF message the session unexpectedly closes. This happens for both NFCTagReaderSession with .PollingOption.iso14443 as it does with NFCNDEFReaderSession. What causes this behavior and how to fix it?

2020-10-05 16:25:02.859298+0200 NFC[680:58085] [xpc.exceptions] <NSXPCConnection: 0x283944140> connection to service on pid 89 named com.apple.nfcd.service.corenfc: Exception caught during decoding of received selector didDetectExternalReaderWithNotification:, dropping incoming message.
Exception: Exception while decoding argument 0 (#2 of invocation):
Exception: decodeObjectForKey: class "NFFieldNotification" not loaded or does not exist
(
0 CoreFoundation 0x000000018f77e5c0 472C9193-115D-34CD-AD1D-0E7E091C9432 + 1185216
1 libobjc.A.dylib 0x00000001a37f842c objcexceptionthrow + 60
2 Foundation 0x0000000190b96ab0 095C09DD-6436-3270-B062-A150203FDEED + 2280112
3 Foundation 0x000000019097eff4 095C09DD-6436-3270-B062-A150203FDEED + 86004
4 Foundation 0x0000000190a5ff90 095C09DD-6436-3270-B062-A150203FDEED + 1007504
5 Foundation 0x00000001909cb7c0 095C09DD-6436-3270-B062-A150203FDEED + 399296
6 Foundation 0x00000001909cbb48 095C09DD-6436-3270-B062-A150203FDEED + 400200
7 Foundation 0x00000001909b7278 095C09DD-6436-3270-B062-A150203FDEED + 316024
8 Foundation 0x0000000190b8e690 095C09DD-6436-3270-B062-A150203FDEED + 2246288
9 libxpc.dylib 0x00000001d6cfdbbc 71E5302F-09BE-3116-8D43-EC2D4C27BE10 + 56252
10 libxpc.dylib 0x00000001d6cfdf48 71E5302F-09BE-3116-8D43-EC2D4C27BE10 + 57160
11 libdispatch.dylib 0x000000010461d6bc dispatchclientcallout4 + 20
12 libdispatch.dylib 0x00000001046391f8 dispatchmachmsginvoke + 520
13 libdispatch.dylib 0x0000000104624dd4 dispatchlaneserialdrain + 268
14 libdispatch.dylib 0x000000010463a168 dispatchmachinvoke + 516
15 libdispatch.dylib 0x0000000104624dd4 dispatchlaneserialdrain + 268
16 libdispatch.dylib 0x0000000104625ce8 dispatchlaneinvoke + 500
17 libdispatch.dylib 0x0000000104631e38 dispatchworkloopworkerthread + 1520
18 libsystempthread.dylib 0x00000001d6cd8908 pthreadwqthread + 276
19 libsystempthread.dylib 0x00000001d6cdf77c startwqthread + 8
)
(
0 CoreFoundation 0x000000018f77e5c0 472C9193-115D-34CD-AD1D-0E7E091C9432 + 1185216
1 libobjc.A.dylib 0x00000001a37f842c objcexceptionthrow + 60
2 Foundation 0x0000000190a601e0 095C09DD-6436-3270-B062-A150203FDEED + 1008096
3 Foundation 0x00000001909cb7c0 095C09DD-6436-3270-B062-A150203FDEED + 399296
4 Foundation 0x00000001909cbb48 095C09DD-6436-3270-B062-A150203FDEED + 400200
5 Foundation 0x00000001909b7278 095C09DD-6436-3270-B062-A150203FDEED + 316024
6 Foundation 0x0000000190b8e690 095C09DD-6436-3270-B062-A150203FDEED + 2246288
7 libxpc.dylib 0x00000001d6cfdbbc 71E5302F-09BE-3116-8D43-EC2D4C27BE10 + 56252
8 libxpc.dylib 0x00000001d6cfdf48 71E5302F-09BE-3116-8D43-EC2D4C27BE10 + 57160
9 libdispatch.dylib 0x000000010461d6bc dispatchclientcallout4 + 20
10 libdispatch.dylib 0x00000001046391f8 dispatchmachmsginvoke + 520
11 libdispatch.dylib 0x0000000104624dd4 dispatchlaneserialdrain + 268
12 libdispatch.dylib 0x000000010463a168 dispatchmachinvoke + 516
13 libdispatch.dylib 0x0000000104624dd4 dispatchlaneserialdrain + 268
14 libdispatch.dylib 0x0000000104625ce8 dispatchlaneinvoke + 500
15 libdispatch.dylib 0x0000000104631e38 dispatchworkloopworkerthread + 1520
16 libsystempthread.dylib 0x00000001d6cd8908 pthreadwqthread + 276
17 libsystempthread.dylib 0x00000001d6cdf77c startwqthread + 8
)