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Odd, I've never had that issue. Using StoreFront, and also Netscaler+StoreFront for external. We don't disconnect on idle. Only client-initiated.

I’ve come across a couple of clients that enforce a screensaver lock and then when reconnecting it doesn’t unlock

Yea this is a thing. We always have to caution against screensaver lock shorter than session timeouts as in many scenarios the end user won't even know the complex password here