I have also had the same issue consistently. Happens occasionally, but is quite annoying. I can fix it by switching to a virtual terminal (which works), scheduling "DISPLAY=:0 xrandr --auto" to run in the near future, and then switching back to the X VT, and waiting for the command to run.
My stats:
OS: Debian GNU/Linux 11 (bullseye)
Hardware: Lenovo Thinkpad T460s
Graphics: Intel Corporation Skylake GT2 [HD Graphics 520]
Kernel: 5.10.0-9-amd64 (with i915 driver)
Packages: xfce4 4.16
Packages: upower 0.99.11-2
Packages: light-locker 1.8.0-3
Cheers,
- Chris