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I was able to get mine to work again by the following procedure (not sure the first two steps were necessary, but this is what worked for me):
1. Reboot the iPhone (*sigh*, I know)
2. Open Find My and find the AirTags still missing
3. Go to the Apple ID security settings on the iPhone to reassure it that Two-Factor is still on (I knew it was, but the iPhone didn't believe me until I opened that settings screen).
4. Go back to Find My and marvel at the fact that the AirTags have reappeared.
Hope this helps anyone.