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It is correct, the client needs to be sending the PINGRESP if no other control packets are being sent. Perhaps the question here is not the broker but the client. I would suggest testing with a client which is fully conformant with MQTT 3, 3.1.1 and 5.0 specificaation, such as https://github.com/hivemq/mqtt-cli
It is developed and supported by HiveMQ, so if you observe any issue you can contact the developers directly.
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