Oh, is that a duplicated post with https://learn.microsoft.com/en-us/answers/questions/749961/adfs-wap-connection-issue-to-adfs-server.html ? Well this one has slighly more information.
It could be an issue with the TLS crypto suite, with SNI, with firewall doing inspection etc... Hard to say for now.
What version of AD FS are you using?
Also, you need to use the FQDN of the farm to join the WAP (not the FQDN o the server). Are you doing that?