The earliest recollection of this bug is traced back to PAN-OS 8.1.3 - January 09, 2024.
This bug is fixed in PAN-OS versions 8.1.3.
Fixed an issue where a firewall frequently flapped a BGP session when the firewall did not receive any response from the BFD peer or when BFD was configured only on the firewall.
For more information:
https://docs.paloaltonetworks.com/pan-os/8-1/pan-os-release-notes/pan-os-8-1-addressed-issues/pan-os-8-1-3-addressed-issues