I'm using the wl driver with Broadcom Corporation BCM4322. I've had the
same problems, with failed association requests, "link timed out", and
"WPA: Could not verify EAPOL-Key MIC - dropping packet" messages, etc.
I'm happy to report that the problem is now solved for me, after I've
upgraded wpasupplicant to 0.6.10. So whatever my problem was, it has
been solved in 0.6.10. Since the EAPOL message got me started in the
right direction I'm partial to this changelog entry, but I'm just
speculating:

        * added a workaround for race condition between receive EAPOL frames
          and association events

For reference, here's more or less what I did to upgrade locally:

# First add source repository if you don't have it
$ sudo apt-get build-dep wpasupplicant
$ cd /tmp
$ sudo apt-get source --compile wpasupplicant
$ wget http://hostap.epitest.fi/releases/wpa_supplicant-0.6.10.tar.gz
$ tar xzvf wpa_supplicant-0.6.10.tar.gz
$ cd wpa_supplicant-0.6.10/wpa_supplicant/
$ cp ../../wpasupplicant-0.6.9/wpa_supplicant/.config .
$ make
$ sudo cp /sbin/wpa_supplicant /sbin/wpa_supplicant.bak
$ sudo cp wpa_supplicant /sbin/

Since there was a wpa_supplicant processes running I then took the
coward's way out and rebooted to start with a clean slate. It's been
working like a charm after that (I'm using wicd, but hopefully it should
work fine with network-manager as well).

-- 
NetworkManager or wpa_supplicant timing out when connecting wireless
https://bugs.launchpad.net/bugs/572777
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