The earliest recollection of this bug is traced back to PAN-OS 8.1.18 - January 09, 2024.
This bug is fixed in PAN-OS versions 9.1.7, 8.1.18.
Fixed an issue where authenticating to GlobalProtect via expired SAML requests (waiting more than 10 minutes) still sent authentication to the SAML server. This invalidated the previously connected gateway and connected users to the second best gateway.
For more information:
https://docs.paloaltonetworks.com/pan-os/8-1/pan-os-release-notes/pan-os-8-1-addressed-issues/pan-os-8-1-18-addressed-issues
https://docs.paloaltonetworks.com/pan-os/9-1/pan-os-release-notes/pan-os-9-1-addressed-issues/pan-os-9-1-7-addressed-issues