Error 13801 in a P2S VPN scenario typically indicates a certificate problem. As you have already recreated the Azure P2S VPN and AOVPN profile in Intune, and verified that the SCEP and root cert configs are correct, the issue may be with the client certificate on the Autopilot workstation.
You may want to check the following:
Verify that the client certificate is correctly installed on the Autopilot workstation. You can check this in the certificate store on the device.
Make sure that the certificate chain is complete and that all required certificates are installed on the device. You can use the Certificates snap-in in MMC to check this.
Ensure that the certificate is not expired and that the time and date on the device are correct.
Check that the VPN profile on the Autopilot workstation is configured correctly and that the correct certificate is being used for authentication.
If you have verified all of the above and the issue persists, you may want to enable VPN client logging on the Autopilot workstation to get more detailed information about the problem. You can use the Event Viewer to access the VPN logs. Additionally, you may want to check the Azure VPN Gateway logs to see if any errors are being reported there.