Archive Utility.app "Error identifying a writable temporary folder"

An answer on discussions.apple.com that worked for me:

cd /var/folders
sudo rm -rf *

I saw this on macOS 10.15 (19A583) Catalina when I tried to expand a ZIP file in my Downloads folder.

One way to fix or work around the problem is to give Full Disk Access to Archive Utility in System Preferences > Security & Privacy > Full Disk Access.