I found out it's something to do with the router setting of "renew group
key", when it was set to 1 hr, for example, after the router renews the
group key, the wl driver becomes very unstable, or NM seems to be
connected but actually not.

My workaround is just change the renewal interval to 10hr, which solves
the problem in most cases.

-- 
Broadcom STA/wl driver causes random kernel panics
https://bugs.launchpad.net/bugs/292450
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