I have searched the web using the fragment of the error message:
This service cannot be accessed because your login request contained saml assertion that has already been used once
This returned very few results, but two from Google Product Communities had answers from Product Experts; that is how Google calls trusted community members. As there are very few results you can do the search and see their answers by yourself.
Before doing that, there is no harm in trying the basic troubleshooting procedure when having problems with web applications. The simplest thing you could try to discard to have a problem with your Google account is the following
- If, for any reason, you have shared your account, ask anyone that you have shared it to log out.
- Turn off your computer and any other devices where you have used your account to log in.
- Turn on your computer.
- Ensure that there are no programs automatically loaded. If there are any, close them, except for the security protection (antivirus, antimalware).
- Open Chrome in incognito mode. Ensure no extensions are loaded due to being authorized to run in incognito mode.
- Sign in to your Google account.
If the problem, persists, having a Google Workspace account you should contact your account administrator.