I had similar issue this month, and found this post too.
For my case, I realized that firewall between vRA and Supervisor/management cluster API on port 6443 is blocked by company firewall, so I opened firewall request for it.
Note: it is likely that vRA IP address is an VIP, so firewall rules should be between real IP addresses of multiple vRA nodes and supervisor cluster API, instead of vRA VIP.
Hope this will help in case there is no other workaround yet.