[ethereum/go-ethereum] Synchronisation failed, dropping peer — even from trusted local 2nd node (#16825)

I have the same experience. Upgraded both my local nodes to 1.8.10, still the nodes produce timeouts, are often 20 — 30 blocks behind.
The interesting observation I have made is: If I block port 30303 on my router, so that the local nodes are not discoverable from the outside, first the have less peers but also after a while of stabilization and catching up with the latest blocks, the error and time-out rate drops considerably — give it a try.
Next step would why the open connection to the outside world causes such problems.

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