I'm still not sure what but on both my systems my keys just don't get loaded back into the ssh-agent on restarts and new login sessions. I got annoyed enough at it that I jumped through the hoops of putting ssh-add into a script and writting a property list file to load as a launchagent to fix it.
If you haven't done so already you can use the well written gub hub instructions for generating ssh keys. Once you get them generated you'll add them with ssh-add -K <sshkey>
where sshkey is the file path/name. Keys are stored by default in your ~/.ssh folder
Note that you may need to use ssh-add --apple-use-keychain
in Big Sur onward instead of ssh-add -K
. I discovered the issue in Montery after skipping Big Sur.
The manual method (assuming your keys were stored into the Mac OS Keychain) is to open up Terminal