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Couldn't you just make a dedicated account for that device? Wouldn't that be preferable anyway? You could still use family controls.

Any idea what happens if you sign out, enable it, and try to sign back in? Is the error as cryptic as I might imagine?

IIRC, it's just a generic failure to log into iCloud

You can remove that iPad from your account if you don't need iCloud for it

We do use it for TV+ shows like Snoopy in Space, so alas, I'm stuck with it being registered

Unregister your account, register a new iCloud and add it to your iCloud family. You can have 6 people in your family account.

I have ADP on my devices but no one else in my family has it on and we’re all in the same iCloud family.