Connect-AzureADBetter.ps1

# Check Azure AD Access token
if ($null -eq [Microsoft.Open.Azure.AD.CommonLibrary.AzureSession]::AccessTokens){
    Connect-AzureAD
} else {
    $token = [Microsoft.Open.Azure.AD.CommonLibrary.AzureSession]::AccessTokens
    Write-Verbose "Connected to tenant: $($token.AccessToken.TenantId) with user: $($token.AccessToken.UserId)"
}

It didn't always worked for me, I had to add a check for an empty token:
$token = [Microsoft.Open.Azure.AD.CommonLibrary.AzureSession]::AccessTokens
if (($null -eq $token) -or ($token.count -eq 0)){
Connect-AzureAD
} else {
Write-Verbose "Connected to AzureAD tenant: $($token.AccessToken.TenantId) with user: $($token.AccessToken.UserId)"
}