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Hi,
How did you fix the issue? I'm seeing the exact same issue on 5520 wlc after upgrading to 8.10.142, AP models are AIR-AP2802I-B-K9 and AIR-AP3802I-B-K9.
I downgraded the wlc back to 8.10.130, but AP still can't join the wlc. Same AP can join 9...