The error isn't just being encountered by those on beta software but also by users on stable versions. For some, rebooting their devices was enough to make the problem go away, but others weren't able to check for new updates even after rebooting their iPhones and iPads.
It can be theorized that the error is related to the brief outage that was recently experienced by variousand since most of them have been resolved, chances are things will go back to being normal soon. Otherwise, if this bug has nothing to do with iCloud, you'll have to wait for Apple to get to the bottom of this and issue a fix.
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