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The issue has been resolved. I was following the instructions in the README, https://github.com/aws/aws-iot-device-sdk-java-v2/blob/main/samples/Mqtt5/PubSub/README.md but it didn't mention adding the necessary connection properties, particularly the client ID. I missed this step, and since we have some policies configured to validate the client ID, this was the cause of the problem. Thanks for your help.

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@jag3435
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Answer selected by jmklix
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