I have exactly the same problem with S20 Ultra and Asus Lyra network. Dropping connection and refusing to reconnect. Saying Authentication Error bur there is nothing wrong with the setup or passords.
But as soon as I move closer to the main Lyra it will reconnect. As long as I am close to a satellit Lyra it does not reconnect.
Other devices including a Samsung S8 does not have any problems.
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