Is there any particular settings in need for Unity URP project?

Problem solved.

  1. in Unity menu, Edit → Project Settings → Graphics
  2. Check the asset location of Scriptable Render Pipeline Settings (UniversalRP-HighQuality)
  3. It located in Assets->Settings as default. and click the asset (UniversalRP-HighQuality)
  4. Check asset in Inspector → General → Renderer List (ForwardRenderer as default)
  5. Click ForwardRenderer
  6. In inspector → Renderer Features → Add Renderer Features click
  7. Add ARSession Feature and Depth Mesh Renderer Feature
  8. Build and Run