With MacOS 11 and 12 iCloud Drive seems to get stuck at random when the computer sleeps. The symptom is that Finder shows stuck progress pie as iCloud Drive's status and clicking it opens a window that shows 1 or more items stuck at uploading or downloading. A common suggestion that usually helps is rebooting the computer, but it appears that only one process needs restarting to recover. The process' name is "bird".
Locate the process with:
pgrep bird
The command should output the process' PID number. Use the kill command to stop it and it'll restart automatically within couple of seconds. No need for sudo, it runs as your own user.
kill (PID_NUMBER_HERE)
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