After traveling overseas (Vietnam & Japan) and using a SIM card for each country, I restored my AT&T SIM card into my iPhone and got:
I tried the suggestions in https://support.apple.com/en-us/HT201415 and all of the suggestions in https://appletoolbox.com/2013/04/iphone-could-not-activate-cellular-data-network-fix/ except backing up and restoring, but nothing worked.