[REQUIRED] Environment info

firebase-tools: 7.3.2

Platform: macOS

[REQUIRED] Test case

Enable Google Cloud Session control as described here:
https://support.google.com/a/answer/9368756?hl=en&ref_topic=7558662

Login to Firebase using firebase login, run for example firebase deploy.
Wait until reauthentication would be required.
Try to run firebase deploy again.

[REQUIRED] Expected behavior

Firebase CLI asks as the gcloud SDK for reauthentication.

[REQUIRED] Actual behavior

Firebase command fails with:

Error: HTTP Error: 401, Request had invalid authentication credentials. Expected OAuth 2 access token, login cookie or other valid authentication credential. See https://developers.google.com/identity/sign-in/web/devconsole-project.