Cannot reconnect to wifi

I am running Xubuntu 20.04 and have a problem with wifi reconnects: Sometimes my HP notebook loses connection to the wifi router (3 meters distance, without obstacles) and then cannot reconnect. This is the corresponding excerpt from syslog:

Jun 24 21:50:26 hostname wpa_supplicant[1026]: wlp58s0: SME: Trying to authenticate with 34:xx:xx:xx:xx:xx (SSID='homewifi_5G-2' freq=5500 MHz)
Jun 24 21:50:26 hostname kernel: [ 6469.357476] wlp58s0: send auth to 34:xx:xx:xx:xx:xx (try 1/3)
Jun 24 21:50:26 hostname NetworkManager[7166]: <info>  [1593028226.5142] device (wlp58s0): supplicant interface state: scanning -> authenticating
Jun 24 21:50:26 hostname NetworkManager[7166]: <info>  [1593028226.5142] device (p2p-dev-wlp58s0): supplicant management interface state: scanning -> authenticating
Jun 24 21:50:27 hostname kernel: [ 6469.972019] iwlwifi 0000:3a:00.0: No beacon heard and the time event is over already...
Jun 24 21:50:27 hostname kernel: [ 6469.972083] wlp58s0: Connection to AP 34:xx:xx:xx:xx:xx lost
Jun 24 21:50:27 hostname kernel: [ 6470.021469] wlp58s0: send auth to 34:xx:xx:xx:xx:xx (try 2/3)
Jun 24 21:50:27 hostname kernel: [ 6470.635771] iwlwifi 0000:3a:00.0: No beacon heard and the time event is over already...
Jun 24 21:50:27 hostname kernel: [ 6470.635821] wlp58s0: Connection to AP 34:xx:xx:xx:xx:xx lost
Jun 24 21:50:28 hostname kernel: [ 6471.013103] wlp58s0: send auth to 34:xx:xx:xx:xx:xx (try 3/3)
Jun 24 21:50:28 hostname kernel: [ 6471.627473] iwlwifi 0000:3a:00.0: No beacon heard and the time event is over already...
Jun 24 21:50:28 hostname kernel: [ 6471.627570] wlp58s0: Connection to AP 34:xx:xx:xx:xx:xx lost
Jun 24 21:50:29 hostname kernel: [ 6472.004632] wlp58s0: authentication with 34:xx:xx:xx:xx:xx timed out
Jun 24 21:50:29 hostname wpa_supplicant[1026]: wlp58s0: CTRL-EVENT-SSID-TEMP-DISABLED id=0 ssid="homewifi_5G-2" auth_failures=1 duration=10 reason=CONN_FAILED
Jun 24 21:50:29 hostname NetworkManager[7166]: <info>  [1593028229.1939] device (wlp58s0): supplicant interface state: authenticating -> disconnected
Jun 24 21:50:29 hostname NetworkManager[7166]: <info>  [1593028229.1940] device (p2p-dev-wlp58s0): supplicant management interface state: authenticating -> disconnected
Jun 24 21:50:30 hostname systemd[1]: NetworkManager-dispatcher.service: Succeeded.
Jun 24 21:50:39 hostname NetworkManager[7166]: <info>  [1593028239.1966] device (wlp58s0): supplicant interface state: disconnected -> scanning
Jun 24 21:50:39 hostname NetworkManager[7166]: <info>  [1593028239.1967] device (p2p-dev-wlp58s0): supplicant management interface state: disconnected -> scanning
Jun 24 21:50:40 hostname wpa_supplicant[1026]: wlp58s0: CTRL-EVENT-SSID-REENABLED id=0 ssid="homewifi_5G-2"
Jun 24 21:50:40 hostname wpa_supplicant[1026]: wlp58s0: SME: Trying to authenticate with 34:xx:xx:xx:xx:xx (SSID='homewifi_5G-2' freq=5500 MHz)
Jun 24 21:50:40 hostname kernel: [ 6482.882772] wlp58s0: authenticate with 34:xx:xx:xx:xx:xx
Jun 24 21:50:40 hostname kernel: [ 6482.888639] wlp58s0: send auth to 34:xx:xx:xx:xx:xx (try 1/3)
Jun 24 21:50:40 hostname NetworkManager[7166]: <info>  [1593028240.0444] device (wlp58s0): supplicant interface state: scanning -> authenticating
Jun 24 21:50:40 hostname NetworkManager[7166]: <info>  [1593028240.0445] device (p2p-dev-wlp58s0): supplicant management interface state: scanning -> authenticating
Jun 24 21:50:40 hostname kernel: [ 6483.502938] iwlwifi 0000:3a:00.0: No beacon heard and the time event is over already...
Jun 24 21:50:40 hostname kernel: [ 6483.503033] wlp58s0: Connection to AP 34:xx:xx:xx:xx:xx lost
Jun 24 21:50:41 hostname kernel: [ 6484.037725] wlp58s0: send auth to 34:xx:xx:xx:xx:xx (try 2/3)
Jun 24 21:50:41 hostname kernel: [ 6484.652032] iwlwifi 0000:3a:00.0: No beacon heard and the time event is over already...
Jun 24 21:50:41 hostname kernel: [ 6484.652110] wlp58s0: Connection to AP 34:xx:xx:xx:xx:xx lost
Jun 24 21:50:42 hostname kernel: [ 6484.999095] wlp58s0: send auth to 34:xx:xx:xx:xx:xx (try 3/3)
Jun 24 21:50:42 hostname kernel: [ 6485.613299] iwlwifi 0000:3a:00.0: No beacon heard and the time event is over already...
Jun 24 21:50:42 hostname kernel: [ 6485.613377] wlp58s0: Connection to AP 34:xx:xx:xx:xx:xx lost
Jun 24 21:50:43 hostname kernel: [ 6485.989445] wlp58s0: authentication with 34:xx:xx:xx:xx:xx timed out
Jun 24 21:50:43 hostname wpa_supplicant[1026]: wlp58s0: CTRL-EVENT-SSID-TEMP-DISABLED id=0 ssid="homewifi_5G-2" auth_failures=2 duration=20 reason=CONN_FAILED
Jun 24 21:50:43 hostname NetworkManager[7166]: <info>  [1593028243.1721] device (wlp58s0): supplicant interface state: authenticating -> disconnected
Jun 24 21:50:43 hostname NetworkManager[7166]: <info>  [1593028243.1722] device (p2p-dev-wlp58s0): supplicant management interface state: authenticating -> disconnected
Jun 24 21:50:50 hostname systemd[1]: systemd-hostnamed.service: Succeeded.
Jun 24 21:50:51 hostname NetworkManager[7166]: <warn>  [1593028251.0630] device (wlp58s0): Activation: (wifi) association took too long, failing activation
Jun 24 21:50:51 hostname NetworkManager[7166]: <info>  [1593028251.0631] device (wlp58s0): state change: config -> failed (reason 'ssid-not-found', sys-iface-state: 'managed')
Jun 24 21:50:51 hostname NetworkManager[7166]: <info>  [1593028251.0648] manager: NetworkManager state is now DISCONNECTED
Jun 24 21:50:51 hostname NetworkManager[7166]: <warn>  [1593028251.0680] device (wlp58s0): Activation: failed for connection 'homewifi_5G-2'
Jun 24 21:50:51 hostname NetworkManager[7166]: <info>  [1593028251.0692] device (wlp58s0): state change: failed -> disconnected (reason 'none', sys-iface-state: 'managed')

My mobile phone connects without problems, but my Linux notebook doesn't. After a reboot, everything is fine again, but a simple sudo service network-manager restart doesn't do the trick. Any clues?

Some wifi details:

$ sudo lshw -C network
  *-network                 
       description: Wireless interface
       product: Wi-Fi 6 AX200
       vendor: Intel Corporation
       physical id: 0
       bus info: pci@0000:3a:00.0
       logical name: wlp58s0
       version: 1a
       serial: 5c:xx:xx:xx:xx:xx
       width: 64 bits
       clock: 33MHz
       capabilities: pm msi pciexpress msix bus_master cap_list ethernet physical wireless
       configuration: broadcast=yes driver=iwlwifi driverversion=5.4.0-37-generic firmware=48.4fa0041f.0 ip=192.168.1.96 latency=0 link=yes multicast=yes wireless=IEEE 802.11
       resources: irq:19 memory:c8100000-c8103fff

And my kernel information:

$ uname -a
Linux hostname 5.4.0-37-generic #41-Ubuntu SMP Wed Jun 3 18:57:02 UTC 2020 x86_64 x86_64 x86_64 GNU/Linux

EDIT
As requested:

$ iwlist wlp58s0 freq
wlp58s0   32 channels in total; available frequencies :
          Channel 01 : 2.412 GHz
          Channel 02 : 2.417 GHz
          Channel 03 : 2.422 GHz
          Channel 04 : 2.427 GHz
          Channel 05 : 2.432 GHz
          Channel 06 : 2.437 GHz
          Channel 07 : 2.442 GHz
          Channel 08 : 2.447 GHz
          Channel 09 : 2.452 GHz
          Channel 10 : 2.457 GHz
          Channel 11 : 2.462 GHz
          Channel 12 : 2.467 GHz
          Channel 13 : 2.472 GHz
          Channel 36 : 5.18 GHz
          Channel 40 : 5.2 GHz
          Channel 44 : 5.22 GHz
          Channel 48 : 5.24 GHz
          Channel 52 : 5.26 GHz
          Channel 56 : 5.28 GHz
          Channel 60 : 5.3 GHz
          Channel 64 : 5.32 GHz
          Channel 100 : 5.5 GHz
          Channel 104 : 5.52 GHz
          Channel 108 : 5.54 GHz
          Channel 112 : 5.56 GHz
          Channel 116 : 5.58 GHz
          Channel 120 : 5.6 GHz
          Channel 124 : 5.62 GHz
          Channel 128 : 5.64 GHz
          Channel 132 : 5.66 GHz
          Channel 136 : 5.68 GHz
          Channel 140 : 5.7 GHz
          Current Frequency:5.26 GHz (Channel 52)