Scan Assistant answering but not giving Credentials Success when scanned

I’m trying to troubleshoot our Scan Assistant roll-out. It works on some assets but not on most.

For troubleshooting sake I’m just asking about a single asset, but the issue are the same for the others
I’ve verified that the firewalls allow TCP 21047 to the assets. The asset firewall also allows TCP 21047.
Created a scan template to just do discovery scan & service scan on TCP 21047. Below are snippets from scan log.

[Thread: Scan 29:nmap:stdin] [Site: TEST SITE SCAN ASSISTANT] [10.73.0.84:21047/TCP] OPEN (reason=syn-ack:TTL=61)
[Thread: Scan 29:nmap:stdin] [Site: TEST SITE SCAN ASSISTANT] [10.73.0.84] ALIVE (reason=syn-ack:latency=1ms:variance=3ms:timeout=100ms)
[Thread: convert-open-tcp-ports-to-services@10.73.0.84] [Site: TEST SITE SCAN ASSISTANT] Starting fingerprinting (fingerprint)...
[Thread: 10.73.0.84:21047/TCP] [Site: TEST SITE SCAN ASSISTANT] Starting fingerprinting thread...
[Thread: 10.73.0.84:21047/TCP] [Site: TEST SITE SCAN ASSISTANT] [Preference: 1.0] Attempting handshake via Rapid7 InsightVM Scan Assistant
[Thread: 10.73.0.84:21047/TCP] [Site: TEST SITE SCAN ASSISTANT] Fingerprinting ran for 2 seconds.
[Thread: 10.73.0.84:21047/TCP] [Site: TEST SITE SCAN ASSISTANT] Fingerprinted: Rapid7 InsightVM Scan Assistant
[Thread: 10.73.0.84:21047/TCP] [Site: TEST SITE SCAN ASSISTANT] Fingerprinting thread complete...
[Thread: convert-open-tcp-ports-to-services@10.73.0.84] [Site: TEST SITE SCAN ASSISTANT] Protocol fingerprinting ran for 4 seconds.
[Thread: convert-open-tcp-ports-to-services@10.73.0.84] [Site: TEST SITE SCAN ASSISTANT] [10.73.0.84:21047/tcp] Running TCP service Rapid7 InsightVM Scan Assistant
[Thread: convert-open-tcp-ports-to-services@10.73.0.84] [Site: TEST SITE SCAN ASSISTANT] [10.73.0.84:21047/tcp] Service running: ServiceFingerprint [[certainty=1.0][description=Rapid7 InsightVM Scan Assistant 1.2.3][family=Nexpose][product=Rapid7 InsightVM Scan Assistant][protocol=Rapid7 InsightVM Scan Assistant][vendor=Rapid7][version=1.2.3]]

From what I’m seeing in the log the Scan Assistant is running and answering.
Why am I not getting “Authentication = Credentials Success” on the asset?
What am I missing?

The roll-out is done via ansible so the shared credential should not be an issue as it works on other assets in the same roll-out