To resolve this issue we can try following steps
1) Log off and log back in
2) Try logging in to an incognito/inprivate mode
3) Log in to HCX manager config page and verify the time and date it should be in syc with vCenter.
4) do an ssh to hcx manager using admin credentials, go to /
common/
logs/
admin and check web.log
if you find entries similar to ERROR c.v.v.h.a.VSphereSamlTokenAuthenticator- Could not assign NSP role based on logged in VCenter user group memberships the issue is with HCX role mapping either the user you are logged in with is not a part of group you defined in role mapping section of hcx manager or role mapping is broken.
to double check add vsphere.local/administrators to role mapping and try logging in with [email protected] to vcenter or hcx manager
it should not show session expired error.