"The MacBook should remain trusted unless you've made changes on your Mac or erased your iPhone." Yes, it should. But it doesn't. As is indicated in the paragraph afterwards, "With iOS 16 and later, the alert message appears when you back up your device. If you turn on automatic backups, the alert message appears every time that you connect your device to the computer."
Yes, the alert message appears every time the computer tries to launch an automatic backup. And since very often the backup gets interrupted (don't ask me why, it just does), the alert message appears again and again. The end result is the that the automatic backup never finishes.
So, because of a setting that is supposed to increase security, my iPad is no longer being backed up to my computer. It's high time Apple changed this ridiculous behaviour.