Failed to boot VL53L0X: VL53L0X Error: -6
I was facing same issue, now my problem is solved here.
This problem mostly occurs when we apply a power supply to the MCU that has capacitors at its output. This type of power supply's rising voltage is like you can see the image:

If you look at the data sheets of MCUs, you see that most MCUs can work at 1.8V to 5.5V. Here the rising voltage is slow; the MCU starts working at 1.8V and send signals to VL53L0x, but the sensor doesn't work at 1.8V.
So, what you need to do is add some delay (first power supply gets stable then start communication with sensor) in your code to avoid this issue. Do not add delay in the loop; it will affect the working of the MCU, where exactly you need to add delay. Code modifications are in the video below:
https://youtu.be/QEiNbTB8nNE
or you just can search on Youtube: How to fix VL53L0X error