I am seeing similar now.
That used to happen also earlier if there was wpa3 802.11r FT in play, so I disabled that SSID and things were relatively stable.
but with the newest firmware blob it has recently surfaced more often.
I also suspected that it might have something to do with the hostapd renewal by nbd, which was merged two weeks ago (and has got several fixes since then).
The firmware bump and the hostapd change was done at the same time, making it more difficult to debug the primary culprit.
Ath11k is more complex than earlier ath versions, so also offers more bug possibilities.
Edit:
see also discussion and links