This appears exactly when wpa_supplicant issues this message:
oct. 18 23:52:25 vicious wpa_supplicant[868]: wlp58s0: WPA: Key negotiation 
completed with 16:cc:20:56:eb:95 [PTK=CCMP GTK=TKIP]
oct. 18 23:52:25 vicious wpa_supplicant[868]: wlp58s0: CTRL-EVENT-CONNECTED - 
Connection to 16:cc:20:56:eb:95 completed [id=0 id_str=]
oct. 18 23:52:31 vicious wpa_supplicant[868]: wlp58s0: WPA: Group rekeying 
completed with 16:cc:20:56:eb:95 [GTK=TKIP]
oct. 18 23:53:01 vicious wpa_supplicant[868]: wlp58s0: WPA: Group rekeying 
completed with 16:cc:20:56:eb:95 [GTK=TKIP]

As seen above, I have lowered my AP's wpa_group_rekey to 30s in order to
confirm the issue, and it indeed reliably occurs after the second rekeying.

This looks like a known issue with the firmware:
http://lists.infradead.org/pipermail/ath10k/2017-August/010069.html

Updating to latest firmware-6.bin[1] and board-2.bin[2] seems to fix the issue.

[1]: 
https://github.com/kvalo/ath10k-firmware/blob/master/QCA6174/hw3.0/4.4.1/firmware-6.bin_WLAN.RM.4.4.1-00065-QCARMSWP-1
[2]: 
https://github.com/kvalo/ath10k-firmware/blob/master/QCA6174/hw3.0/board-2.bin

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