A short answer for how to enforce a wired Sidecar connection between a Mac and an iPad.
Sidecar allows us to use an iPad as the secondary display via either WiFi or a USB connection. However, it is not always true that Sidecar uses the USB connection when possible.
To resolve this problem and enforce Sidecar to use the USB connection, you simply have to make your iPad “trust” your Mac before you launch Sidecar.
“To use Sidecar over USB, make sure that your iPad is set to trust your Mac.” — source
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