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wpa_cli "could not connect to wpa_supplicant"

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I'm trying to set up Wifi on an Ubuntu Server 20.04 system. I've messed around a bit with networking stuff on this machine already, in ways I can't quite remember (with netplan and wpa_supplicant), so I can't quite guarantee things are in a fresh state. However, when I try to run wpa_cli, I get:

Could not connect to wpa_supplicant: (nil) - re-trying

After that, it just hangs.

I've tried specifying the interface with -i and specifying the wpa_supplicant socket with -p, nothing works. Actually, for the latter, I don't know where the socket is. There's nothing in the usual places like /run or /var/run.

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