you have missed the Fingerprint Certificate Authorization dialog in your phone when you connected it, try to change the USB mode to Media, or another different than the one you have in and then reconnect your device, or go to Developer Options -> Revoke USB Debugging and reconnect, watch for the dialog and click on accept, that should solve your problems.
If that doesn’t work, set your ANDROID_SDK_HOME again, and then:
- Unplug device
-
Run:
adb kill-server adb start-server -
Plug in device