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This forces steam to check if your computer is already authorized (it seems to 'forget' sometimes) and (hopefully) it will say something along the lines of "we've detected you're already authorized. You're good to go"
One of the ways to send a request is by trying to launch one of the installed games from the shared library.
If you have none, I'd consider using a recovery program and trying to fetch an older version of the config.vdf.
If all else fails, have your friend unauthorize your device from here:
https://store.steampowered.com/account/managedevices
Then re-authorize from scratch.
As for troubleshooting why it might be happening,
It happened while I was playing a shared game, and the game just cut to black as I was playing. When I came back the family sharing seemed to be off for some random reason, I activated it but I can't access the other computer's library anymore.