I believe this is a bug in wpa_supplicant, not the kernel driver. brcmfmac does not support FT.

http://lists.infradead.org/pipermail/hostap/2020-February/041220.html

This indeed fixes the problem.

Regarding the very out of date firmware, do you consider it a "bug" that the driver is unable to work correclty with newer firmware, or is it expected and if yes, would there be a chance that something is done about it?
I unfortunately don't have access to the changelog, but I'm worried that the firmware pre-dates https://googleprojectzero.blogspot.com/2017/04/over-air-exploiting-broadcoms-wi-fi_4.html
And it was affecting very similar chips...

(In reply to François Guerraz from comment #2)
> This indeed fixes the problem.

Then this bug should probably be closed. I don't have the ability to do so, but maybe you (as reporter) do?

> Regarding the very out of date firmware,

I really don't know what firmware you're talking about. Do you mean, brcmfmac4350* firmware from the linux-firmware repository? Yes, it appears not to have been updated in forever. But other variants (4354, for instance) have updates, with CVE notices.

Anyway, this is off topic. You could probably ask on linux-wireless@ if you're interested about particular firmware. I believe there are still some Broadcom folks who actually listen there.

Ok, will do! Thanks.

Hi, I'm facing the same issue with a Dell XPS 13 9350, BCM4350 and brcmfmac driver on Arch and Ubuntu, and key_mgmt WPA-PSK WPA-PSK-SHA256 FT-PSK.

(In reply to Brian Norris from comment #1)
> http://lists.infradead.org/pipermail/hostap/2020-February/041220.html

(In reply to François Guerraz from comment #2)
> This indeed fixes the problem.

That link is dead, what was the proposed solution please?

Not sure why the mailing list archive link died :(

Anyway, it's committed here:

https://w1.fi/cgit/hostap/commit/?id=23dc196fde951b3d508f367a603cddffbd053490

commit 23dc196fde951b3d508f367a603cddffbd053490
Author: Matthew Wang <matthewmwang@chromium.org>
Date:   Mon Feb 3 17:12:05 2020 -0800

    Check for FT support when selecting FT suites

Hi,

I'm using Raspberry PI 3b (driver=brcmfmac driverversion=7.45.154) with wpa_supplicant v2.4 and seeing below error in supplicant. This is seen only with key_mgmt = FT-PSK/FT-EAP. Supplicant is able to connect when key_mgmt = WPA-PSK/WPA-EAP. 

Can you please explain if the this issue is fixed in latest WPA_Supplicant version (version number please)? 

1614190880.526576: nl80211: MLME connect failed: ret=-22 (Invalid argument)
1614190880.526636:* wlan0: Association request to the driver failed*
1614190880.526896: CTRL_IFACE monitor sent successfully to /tmp/wpa_ctrl_31742-2\x00
1614190880.526969: wlan0: Radio work 'connect'@0x55c930 done in 0.011988 seconds
1614190880.527007: Added BSSID <bssid> into blacklist
1614190880.527046: wlan0: Blacklist count 1 --> request scan in 100 ms
1614190880.527083: wlan0: Setting scan request: 0.100000 sec
1614190880.527273: wlan0: State: ASSOCIATING -> DISCONNECTED

There is no official wpa_supplicant release that includes this yet. But wpa_supplicant doesn't really do regular releases, so it's probably up to your distribution to update to whatever version seems right.

2.4 is ancient (2015), by the way, so there's no chance you have any modern fixes.

This is not a support forum (and definitely not a wpa_supplicant support forum), so I'm not sure there's any more to do here.

Although I have to admit that I haven't tested it yet, I noticed that a new driver is available at http://www.ralinktech.com/ralink/Home/Support/Linux.html https://basketrandom.io. Additionally, the staging drivers for my USB adapter (DWA140=rt2870) are faulty.
Is it possible to compare the ralink version and the staging driver?