I came across this thread yesterday as I was researching this same issue. In response to the statement from VMware Support that this will be sorted out in 13.2, I can say that I am running 13.2.1 and still have the issue - but not in every circumstance.
I was only seeing the issue when I would RDP into a jump server with credentials that also have vCenter permissions. When connecting to vCenter, I would let the connect-viserver command use the session credentials so that I wouldn't need to pass in credentials. And when I do this, 10 minutes later the connection to vCenter drops. But when I would connect from my laptop, where the user I am logged in as doesn't have vCenter permissions, I have to pass in credentials to the connect-viserver command. And when I do this, the disconnect never happens. To confirm this, I RDP'd back into the jump server but this time, I passed credentials into the connect-viserver command directly (not using the session credentials) and the disconnect never happens.
So, while not a solution, the workaround that I found to this issue is to pass credentials into the connect-viserver command by using "$creds = Get-Credential" and the "-Credential $creds" option in the connect-viserver command.
I hope this helps!
-Ron