The debugs show that you are sending requests to ACS/TACACS and receiving no response. There are several things that could cause this symptom. First you should check on whether the request is getting to the TACACS server. Probably you could look in the logs of the server and see if it has recognized and processed requests from your device. If it recognized the request then it may also have some indication of why it did not authenticate. These causes could include a mismatch in the shared key, the server does not have a correct definition of this device as a TACACS client, your machine is not sending requests with the source address that the TACACS server is expecting.
You also might want to verify that there is correct IP connectivity from your router to the TACACS server (ping or extended ping is a good way to check this). You might also check along the path and make sure that there are not access lists which might be blocking your request (or blocking the response from the server back to you).
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We have configured the outside and inside Interface with official ipv6 adresses, set a default route on outside Interface to our router, we also have definied a rule , which also gets hits, to permit tcp from inside Interface to any6.
In Syslog I also se...