If you are trying to upload a file of 3-5 GB to Drive for Mac and see an error message or a Waiting to Start message that doesn't disappear, you may be able to resolve the problem by granting Drive full disk access.
To enable full disk access:
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Go to System Preferences > Security and Privacy.
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Click the Privacy tab.
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Click Full Disk Access in the left panel.
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If the CloudDrive application does not appear in the window, click the +, and add it.
Drive now has full disk access.