The earliest recollection of this bug is traced back to PAN-OS 9.1.5 - July 29, 2024.
This bug is fixed in PAN-OS versions 9.1.5.
Fixed an issue on the firewalls where traffic originating from a GlobalProtect user did not match HIP-based Security policies using the cached HIP report. Instead, the traffic was denied until the GlobalProtect agent submitted a new HIP report about 20 seconds later.
For more information:
https://docs.paloaltonetworks.com/pan-os/9-1/pan-os-release-notes/pan-os-9-1-addressed-issues/pan-os-9-1-5-addressed-issues