Double Clicking an Expired realm then clicking the 'Configure realm' button of your own realm connects you to your realm. (You have to do it relatively fast.)
As well as this, clicking the 'Cancel' button on the connecting screen takes you out of the screen but will still connect you to the world.
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Thank you for your report!
Minecraft Realms for Java Edition has received a lot of updates and fixes over the last two years, so this issue has probably already been fixed in the meantime (e.g. because it was a temporary outage or an issue with the base game).
Since this bug report has not been updated since at least two years, please let us know if this is still an issue in current versions of Minecraft and update the bug report if applicable. If this is no longer an issue, please let us know as well. Thanks!
This issue is being temporarily resolved as Awaiting Response. Once the requested information has been delivered, the report will be reopened automatically.
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Confirmed for 1.16.3