I’m on the same ArduSub, Companion, and QGC, and am currently on Monterey 12.1, although I don’t expect there to be significant differences between 12.1 and 12.2.
Are you on Intel or M1? I’m not sure if we’ve tested much (if at all) with M1 yet - that’s the biggest potential difference I can think of.
I’m also a bit confused - you seem to have managed to get a connection working a month ago, did that not include an autopilot connection or video stream, or have you since changed devices or something?