Some clients have trouble with the defaults.
I have got 802.11r roaming for WPA2 working nicely by
- changing some of the defaults,
- by defining fixed MACs to all relevant interfaces in all three related routers, as wifi drivers may change the MAC when you have multiple SSIDs enabled for a radio, and
- by providing fixed r0kh and r1kh data for all of them. (note that r1_key_holder reflects each router's own MAC in each router. otherwise same on each router)
Screenshot from one of my routers:
(note, a few WPA3 related unncessary options like sae_pwe and ocv are showing due to old experiments)