Tasmota ESP32 devices intermittently show as “Became unavailable”

There are a few posts about ESPHome devices becoming unavailable but none with Tasmota. In the former, people mention Async TCP and wifi_power_savings option as workarounds/fixes

I have two ESP8266 devices and two ESP32 devices running Tasmota 11 in the same location with a strong WiFi signal (approx 60dBm) and only the latter occasionally become unavailable for an hour or more as reported by HA. They all use Tasmota integration to HA.

How could I get more information about what HA thinks is happening so that I could work my way towards a fix?