Launch session takes 6~7 seconds and then fails. Check the Event Log, there are several Event ID 6 Errors recorded.
Error Message:
Citrix ICA could not configure Thinwire and switch to the remote ICA display. Rebooting the workstation or logging in to the console will fix this.
Delete below registry key on VDA Machine and reboot VDA :
[HKEY_LOCAL_MACHINE\SYSTEM\CurrentControlSet\Control\GraphicsDrivers\MonitorDataStore]
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Other Displays related can also occur with the same issue.
Examples like VMware Tools update will change Thinwire graphics driver occasionally, this also can cause this issue.
Unable to Connect to XenDesktop Virtual Desktop Agent on Windows 7 with VMware Tools ESX 4.0 Update 1
https://support.citrix.com/article/CTX123952
In this scenario, change the "Remove display from desktop" setting from "Advanced display settings". The issue occurs after this change.