OTP from Google Authenticator isn't accepted, on every authentication attempt, a new QR code is provided.
Error "Logon using Google Authenticator failed. Error: Incorrect OTP" is thrown.
Incorrect time settings on the RAS Publishing Agent server.
Set the correct time on the RAS PA server (e.g, by using NTP)
Sync Time with NTP: https://learn.microsoft.com/en-us/answers/questions/335118/sync-time-with-ntp