WebDriverException: Message: An unknown server-side error occurred while processing the command #805

The problem

I have been using Appium to run automation testing against our Android app on devices for more than a year now. Just till recently we kept come across this issue while to initialize the Appium.
WebDriverException: Message: An unknown server-side error occurred while processing the command. Original error: Error executing adbExec. Original error: 'Command 'C:\CATA_AUTO\Android\SDK\platform-tools\adb.exe -P 5037 -s 217TCD865537 shell 'settings delete global hidden_api_policy_pre_p_apps;settings delete global hidden_api_policy_p_apps;settings delete global hidden_api_policy'' exited with code 20'; Stderr: 'cmd: Can't find service: settings
cmd: Can't find service: settings
cmd: Can't find service: settings'; Code: '20'

I temporary uninstall Appium then reinstall appium and it works but several days later this issue come back...

Environment

• Appium version: 1.21.0

Details

using Python as library and robot framework to run the test case.

Link to Appium Logs

I attached the appium-server-logs
appium-server-logs.txt

Code To reproduce issue