Failed verifying iOS settings and installing driver - certificate has just been added

I am creating a new test but when I start recording, I get the following error after the “installing iOS automation driver on your device…” message:
Failed verifying iOS settings and installing driver on XXXXX. Please make sure your device has access to the internet and that you have configured your iOS settings as specified in the TestProject documentation: iOS Devices - TestProject Documentation.

The iOS settings (certs, profile) were created today so the cert has not expired (it has a year to go).

The Agent version is 3.5.0.0

iOS ver is 15.4.1 - is this supported?