DIAGNOSIS This is almost always a Wi-Fi signal strength issue specific to the camera's location. The Essential XL needs a stronger, more stable signal than your phone or laptop to stream video reliably.
FIX Check the camera's signal strength in the app. Go to Settings > My Devices > select your camera > Device Info. Look for 'Signal Strength.' If it's fair or poor, you need to improve it. The simplest fix is to move your Wi-Fi router closer, or get a Wi-Fi extender that creates a strong 2.4 GHz network where the camera is.
IF THAT DIDN'T WORK Interference from other devices can be a problem. If the camera is near a microwave, baby monitor, or dense brick/stone wall, try relocating it even a few feet. Also, power cycle your router and modem.
HEADS UP Don't just look at the bar indicator on your phone near the camera. The camera's antenna is inside its housing and can be more finicky. The 'Signal Strength' reading in the Arlo app's Device Info is the only metric that matters for troubleshooting this.