I've been having this issue for a long time and it still isnt resolved. My friends can not join my worlds but I can join theirs. I hope you fix this issue. Thx
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I suggest you contact https://support.microsoft.com/en-us/contactus/

My sister has been having the same issue on her Kindle Fire 7 tablet as when we try and play multiplayer together (me on my Nintendo Switch), I cannot join her worlds but she can join my worlds and she can join servers such as the Hive.
I think the error may be caused by the host of the world's internet having dropped in the middle of a time when they are hosting their world, however, I can't confirm this. I feel this is a really important issue to get fixed for the upcoming 1.16 update as currently me and my sister can no longer play our survival world together.
By the way, I thought it was important to say this, but even when this message comes up my sisters Microsoft account is still connected. We have tried signing her in and out but it has done nothing.

After a long conversation and triage with Microsoft, it looks like this is a Mojang issue.
When a world is being synced to cloud, especially if it is a big world, there is a possibility that the world is corrupted. For example, power goes out, internet goes down, etc. This leaves the world in a bad state in the cloud. You can continue to play offline with the local save data; but you will get fail to sync errors if you try to log in online. If you are logged in before you see the Play control, Minecraft just spins its wheels on the rotating world splash after you hit cancel after the failed sync error. If you log in after you see the main screen, you get a sync error, but you can continue to play the local copy. The trouble is, if you can't sync, the game seems to assume your account is in a bad state, and you see the Oops! your disconnected error and can't play with anyone.
The solution is to delete the offending world locally (even if you just spent 3 months building like me).
Minecraft needs to "fail open" if there is a sync issue on bad world data. One bad world should NOT take down the entire game and sync process. Previous Jira have said its "Microsoft's problem"; but the sync flow is actually Mojang's. A better design would be to allow a flag on a world for sync or not... or some way to navigate and purge the BAD data in the cloud (because the local storage is still good).

So I got on to a new world and it didn't pop up. I don't have xbox live right now though. So I'm still curious if it will pop up again when I get xbox live again.

I can confirm that this effects 1.16.0
Thank you for your report!
However, this issue has been temporarily resolved as Awaiting Response
Is this still an issue in the latest version?
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@Mega_Spud This problem still exists on the latest Xbox One version of Minecraft.
Is there a workaround for the problem of the corrupted cloud data described above? Is there a way to force a world to be resynced? E.g. is there a way to delete a world from cloud storage but keep it locally and then sync it again?

Affects nintendo switch.

@Seth Alex Do not put off-topic links in your comments.

Right

Is this still an issue in the latest version?

Cleaning up old tickets: This ticket had been set to 'Awaiting Response', but has not received a response from the reporter (~3 months+) so is being closed as Incomplete. If you feel this is still a valid issue then please comment, or create a new ticket following the Issue Guidelines which includes steps to reproduce the problem.
Quick Links:
📓 Issue Guidelines – 💬 Mojang Support – 📧 Suggestions – 📖 Minecraft Wiki