+Synopsis+

I opened the Menu scene in the AR Foundation Samples project, and entered AR Simulation mode using the Office_36ftx16.5ft_002 Sim Env.  As I navigated through the environment, planes were discovered on the walls, floor, furniture, and computers.

But then I clicked Return to go back to the menu, and then clicked SimpleAR to re-enter the scene.  This time it took longer for any plane discovery to occur, and planes were only discovered on the walls and floor.  No raycast points appeared on furniture or computer equipment.  

This is consistently reproducible using ARF 5.0.0-pre.12, as well as the current configuration below.  

+Configuration+
Unity 2022.2.0a19
AR Foundation 5.0.0-pre.13
Built-in RP
MacBook Pro
MacOS 12.4

+How to See The Bug+

Start with the AR Foundation Samples project from the dev branch of this PR: 

[https://github.cds.internal.unity3d.com/unity/arfoundation/pull/478]

Enable AR Simulation, invoke the AR Environment view, and install the Sim Env sample content as described here: 

[https://docs.unity3d.com/Packages/com.unity.xr.arfoundation@5.0/manual/index.html]

Open the Assets/Scenes/ARFoundationMenu/Menu scene. 

Press Play to enter AR Sim mode. 

Click the Simple AR button. 

Navigate near the office furniture via right-mouse + WASD keys (and Q and E to raise and lower).  Planes appear on the furniture. 

Click Return to go back to the menu. 

Click the Simple AR button. 

Navigate near a wall or the floor.  Eventually planes will be found on the floor and walls, though raycast does not begin as quickly as it did the first time.

Navigate near the office furniture.  This time there are no raycast points nor discovered planes on the furniture.  This is the bug.