TLS derives a session key from the agreed master secret. That key is then used during the TLS session for encryption and authentication of the session data
It is not true that "... a [single] session key ... for encryption and authentication ..." gets derived.
While the exact details differ between TLS versions in general different keys are derived for client and server. Up to TLS 1.2 also separate keys were derived for encryption and authentication. With TLS 1.3 only the encryption key is needed since all ciphers are using authenticated encryption.
For the details see for example RFC 5246 (TLS 1.2) section 6.3 or RFC 8446 (TLS 1.3) section 7.3.