I had this issue, having previously had no issues with AirDrop but also having not executed a transfer for some weeks. I too had the same OS versions as stated (up-to-date at the time of writing).
After an Apple Support chat session, the agent mentioned something about "bringing the devices together" - I think they assumed the transfer was between 2 iOS devices.
iOS device > General > AirDrop > Bringing Devices Together
I believe it is on by default when upgrading to whichever iOS release contained NameDrop. I manually & specifically turned OFF the setting because of recent "security" articles about the new NameDrop capability
I had this setting turned ON, specifically because I did a contact transfer a week or 2 ago. And accidentally left it on.
Toggling it off, retrying the AirDrop, and it worked. It does NOT seem to be work as before, where I could simply tap the AirDrop menu bar item to initiate a transfer - this no longer seems to work. Now I HAVE to use a Finder window, opened to the AirDrop location.
The changes (I will not call them "enhancements"!) to this whole functionality has been for the worse in my experience and opinion.
Hope this helps others...
And Apple too, to make these features work better and have a better UI.