Magento 2 — recurring “Can not resolve reCAPTCHA parameter” in debug.log despite reCAPTCHA appearing to work on frontend

We are seeing recurring entries in var/log/debug.log across multiple Magento 2 installations (2.4.4–2.4.6-p3) with Google reCAPTCHA v3 Invisible enabled:

MagentoFrameworkExceptionInputException: Can not resolve reCAPTCHA parameter.
in vendor/magento/module-re-captcha-ui/Model/CaptchaResponseResolver.php:25

There is no visible error on the frontend — the forms (Login, Forgot Password, Registration, Company Registration, Checkout) appear to function normally for most users. The issue is only discovered when inspecting the debug log.

It fails intermittently — more frequently on slow connections or when the user leaves the form idle for 2+ minutes before submitting.

What is the root cause and how can it be fixed properly?