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It seemed to have worked at some point - at least the server logs show one successful login:

[2023-07-26T14:02:00.828535Z] [debug] Net::OpenID::Consumer: semantic info (https://www.opensuse.org/openid/user/mkittler) = openid2.provider => https://www.opensuse.org/openid/, openid.server => https://www.opensuse.org/openid/
[2023-07-26T14:02:00.828936Z] [debug] Net::OpenID::Consumer: Server is https://www.opensuse.org/openid/
[2023-07-26T14:02:00.829990Z] [debug] Net::OpenID::Consumer: verified_identity: assoc_handle: {HMAC-SHA1}{redacted}{b'redacted'}
[2023-07-26T14:02:00.830086Z] [debug] Net::OpenID::Consumer: handle_assoc: dumb mode: no_cache
[2023-07-26T14:02:00.830365Z] [debug] Net::OpenID::Consumer: verified_identity: verifying using HTTP (dumb mode)
…
[2023-07-26T14:02:04.921071Z] [debug] Net::OpenID::Consumer: Cache MISS for https://www.opensuse.org/openid/yadis/mkittler.xrds
…
[2023-07-26T14:03:47.361601Z] [debug] Net::OpenID::Consumer: verified identity! = https://www.opensuse.org/openid/user/mkittler

Supposedly it was in vain because the HTTP request had already timed out (on client or gateway level).

The error I mentioned in the ticket description is also visible in the server logs:

[2023-07-26T14:08:38.171657Z] [debug] Net::OpenID::Consumer: fail(naive_verify_failed_return) Direct contact invalidated ID provider response.
[2023-07-26T14:08:38.172022Z] [error] OpenID: naive_verify_failed_return: Direct contact invalidated ID provider response.

It works after disabling IPv6 for the relevant IP addressed:

ip -6 r a to unreachable 2001:67c:2178:8::16
ip -6 r a to unreachable 2001:67c:2178:8::161

I disabled IPv6 in /etc/sysctl.conf for now with a reference to this ticket.