I have been hosting a dedicated server for quite some time. I was in-game and stepped away for a few minutes and I came back to this error. "authstate_steamgroups". No changes were made. I can connect to anyone else's server, but not my own that I am hosting on the same PC. And anyone that attempts to connect to mine, gets that same message. I have reinstalled Steam and the game. I even completely rebuilt a new server with the new install and still getting this message.
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