I had the same problem with my 2020 Model X LR and Gen 3 HPWC. I determined that the issue is with the HPWC. I called Tesla (510-249-2490 option 2) and they pushed out a firmware upgrade for the HPWC, which has addressed the issue.
I have also noticed that in cold weather the car charges more reliably if I turn on the heater (which heats the battery) before charging.