I was having this issue today.  I can't comment on the distinction
between wpa vs wpa2, as I didn't have access to change the router.  But
I failed to associate with any of several WPA networks.

wpasupplicant version: 0.6.9-3ubuntu3
linux-image version: 2.6.32-21.32

$ sudo lspci -vv -k -nn -s 06:
06:00.0 Network controller [0280]: RaLink RT2760 Wireless 802.11n 1T/2R Cardbus 
[1814:0701]
        Subsystem: Belkin Device [1799:811c]
        Control: I/O- Mem+ BusMaster+ SpecCycle- MemWINV- VGASnoop- ParErr- 
Stepping- SERR- FastB2B- DisINTx-
        Status: Cap+ 66MHz- UDF- FastB2B- ParErr- DEVSEL=slow >TAbort- <TAbort- 
<MAbort- >SERR- <PERR- INTx-
        Latency: 64 (500ns min, 1000ns max)
        Interrupt: pin A routed to IRQ 11
        Region 0: Memory at 30000000 (32-bit, non-prefetchable) [size=64K]
        Capabilities: [40] Power Management version 3
                Flags: PMEClk- DSI- D1- D2- AuxCurrent=0mA 
PME(D0-,D1-,D2-,D3hot-,D3cold-)
                Status: D0 PME-Enable- DSel=0 DScale=0 PME-
        Kernel driver in use: rt2860
        Kernel modules: rt2860sta

-- 
After update (03/29) Authentication times out cant connect to wpa protected 
network
https://bugs.launchpad.net/bugs/551413
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