The server did not preserve SSL encryption during a recovery attempt, connection recovery is not possible

We are starting to get the error message The server did not preserve SSL encryption during a recovery attempt, connection recovery is not possible from our MS SQL Server 2019 15.0.4298.1 instance. We have never seen this error before, and are at a loss as to what caused it. The Microsoft documentation at https://learn.microsoft.com/en-us/sql/connect/oledb/features/idle-connection-resiliency?view=sql-server-2017 states that this is one of the errors that can occur when connection recovery is not possible, but it does not mention why connection recovery may not be possible. Also, we are starting to see this issue just recently. We "fixed" it by setting the retry attempts to 0, thus switching off connection resiliency, which works for our system. But we don't know if we just masked a deeper core problem that will bite us later. Are there any current updates or other changes that are known to create conditions where connection recovery is not possible?