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May I ask you are using Self-Signed certificate or CA-Signed certificate (public or private)?
If you are using Self-Signed certificate, each client must manually trust the certificate or its issuer.
To do that, open Key Chain on Mac, Import Items to add the certificates into the System keychain. Then expand Trust > For When using this certificate, choose Always Trust.
If you are using public CA-Signed certificate, it is already trusted by most operating systems and browsers.
For private CA, it requires installing the CA’s root certificate on client devices.
You need to trust the certificate just like self-signed Certificate.
Some related articles:
Send a digitally signed or encrypted message for Mac - Microsoft Support
Request a certificate from a certificate authority in Keychain Access on Mac - Apple Support
Change the trust settings of a certificate in Keychain Access on Mac - Apple Support
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