I have Moto G4 plus Android 6.0.1 And in that I installed TWRP recovery and manually root it
When I connected with PC in debugging mode it shows Unauthorized device
I have tried
- Updating SDK tools 
- adb kill-server 
- adb start-server
- adb devices 
- Restart device Restart PC Updating Motorola drivers 
- Changing different USB cable/USB port Even though I reset my device but nothing happens If any one face such kind of issue please help me 
