The map is supposed to retrieve a new token when the current one expires. I know it used to, haven't tested that out myself recently and I believe the backend library used for this in Azure Maps was replaced about a year ago as the Azure Active Directory team retired the older version of it, so it's possible the behavior has changed. I believe the token is meant to last around 10 to 12 hours, the expiry time is encoded into the JWT token (I just verified this by grabbing the token from my network trace and decoding it using this tool: https://jwt.io/).
Looking at the docs, the Event manager of the map has a tokenaquired
event but not one for when it expires. Digging into the source code of the web SDK it doesn't look like the Azure Active Directory tokens have expiry handling setup, but SAS tokens do.
I'll reach out to the Azure Maps team about this.