Salesforce Connector | Failed to connect to Salesforce with {"error":"invalid_grant","error_description":"invalid assertion"}

SYMPTOM

Invalid status code: 400, response body: {"error":"invalid_grant","error_description":"invalid assertion"}

Connectivity test failed for config 'Salesforce_Config'. Application deployment will continue. Error was: Invalid status code: 400, response body: {"error":"invalid_grant","error_description":"invalid assertion"}
org.mule.runtime.api.connection.ConnectionException: Invalid status code: 400, response body: {"error":"invalid_grant","error_description":"invalid assertion"}
	at org.mule.runtime.core.internal.connection.ErrorTypeHandlerConnectionProviderWrapper.lambda$connect$0(ErrorTypeHandlerConnectionProviderWrapper.java:69)
	at java.util.Optional.map(Optional.java:215)
	at org.mule.runtime.core.internal.connection.ErrorTypeHandlerConnectionProviderWrapper.connect(ErrorTypeHandlerConnectionProviderWrapper.java:68)
	at org.mule.runtime.core.internal.connection.ConnectionUtils.connect(ConnectionUtils.java:49)
	at org.mule.runtime.core.internal.connection.AbstractConnectionProviderWrapper.connect(AbstractConnectionProviderWrapper.java:64)
	at org.mule.runtime.core.internal.connection.DefaultConnectionProviderWrapper.connect(DefaultConnectionProviderWrapper.java:52)
	at org.mule.runtime.core.internal.connection.CachedConnectionManagementStrategy.createConnection(CachedConnectionManagementStrategy.java:95)
	at org.mule.runtime.core.api.util.func.CheckedSupplier.get(CheckedSupplier.java:25)
	at org.mule.runtime.api.util.LazyValue.get(LazyValue.java:77)
	at org.mule.runtime.core.internal.connection.CachedConnectionManagementStrategy.getConnectionHandler(CachedConnectionManagementStrategy.java:63)
	at org.mule.runtime.core.internal.connection.DefaultConnectionManager.getConnection(DefaultConnectionManager.java:241)
	at org.mule.runtime.core.internal.connection.DefaultConnectionManager.lambda$testConnectivity$1(DefaultConnectionManager.java:160)
	at org.mule.runtime.core.internal.connection.DefaultConnectionManager.doTestConnectivity(DefaultConnectionManager.java:176)
	at org.mule.runtime.core.internal.connection.DefaultConnectionManager.testConnectivity(DefaultConnectionManager.java:152)
	at org.mule.runtime.core.internal.connection.DelegateConnectionManagerAdapter$EagerConnectionManagerAdapter.testConnectivity(DelegateConnectionManagerAdapter.java:176)
	at org.mule.runtime.core.internal.connection.DelegateConnectionManagerAdapter.testConnectivity(DelegateConnectionManagerAdapter.java:98)
	at org.mule.runtime.module.extension.internal.runtime.config.LifecycleAwareConfigurationInstance$1.doWork(LifecycleAwareConfigurationInstance.java:204)
	at org.mule.runtime.core.api.retry.policy.AbstractPolicyTemplate.execute(AbstractPolicyTemplate.java:62)
	at org.mule.runtime.core.internal.retry.async.RetryWorker.run(RetryWorker.java:56)
	at java.util.concurrent.Executors$RunnableAdapter.call(Executors.java:511)
	at java.util.concurrent.FutureTask.run(FutureTask.java:266)
	at org.mule.service.scheduler.internal.AbstractRunnableFutureDecorator.doRun(AbstractRunnableFutureDecorator.java:152)
	at org.mule.service.scheduler.internal.RunnableFutureDecorator.run(RunnableFutureDecorator.java:54)
	at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1149)
	at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:624)
	at java.lang.Thread.run(Thread.java:748)
Caused by: Invalid status code: 400, response body: {"error":"invalid_grant","error_description":"invalid assertion"}
	at org.mule.extension.salesforce.internal.error.exception.service.handlers.IOExceptionHandler.handle(IOExceptionHandler.java:49)
	at org.mule.extension.salesforce.internal.connection.provider.AbstractOAuthConnectionProvider.send(AbstractOAuthConnectionProvider.java:293)
	at org.mule.extension.salesforce.internal.connection.provider.AbstractOAuthConnectionProvider.sendAuthorizationRequestAndParseResponse(AbstractOAuthConnectionProvider.java:200)
	at org.mule.extension.salesforce.internal.connection.provider.JWTConnectionProvider.onPreAuthorization(JWTConnectionProvider.java:153)
	at org.mule.extension.salesforce.internal.connection.provider.AbstractOAuthConnectionProvider.createConnectionConfigBuilder(AbstractOAuthConnectionProvider.java:143)
	at org.mule.extension.salesforce.internal.connection.provider.AbstractConnectionProvider.connect(AbstractConnectionProvider.java:253)
	at org.mule.extension.salesforce.internal.connection.provider.AbstractConnectionProvider.connect(AbstractConnectionProvider.java:80)
	at org.mule.runtime.module.extension.internal.runtime.config.ClassLoaderConnectionProviderWrapper.connect(ClassLoaderConnectionProviderWrapper.java:60)
	at org.mule.runtime.core.internal.connection.ConnectionUtils.connect(ConnectionUtils.java:49)
	at org.mule.runtime.core.internal.connection.AbstractConnectionProviderWrapper.connect(AbstractConnectionProviderWrapper.java:64)
	at org.mule.runtime.core.internal.connection.ErrorTypeHandlerConnectionProviderWrapper.connect(ErrorTypeHandlerConnectionProviderWrapper.java:64)
	... 24 more

CAUSE

WARN  2022-07-24 07:01:34,792 [[MuleRuntime].uber.251315: [sample-app].sampleFlow.CPU_LITE @19f040cd] [processor: ; event: ] org.mule.extension.salesforce.internal.service.connection.oauth.SignerService: There are more than one alias, picked first one with name: <certificate_name>

SOLUTION