If you configure the ESP to connect to an AP, and you keep getting a "No AP Found - Reason 201" error.... despite being able to scan successfully for the AP, check what IP address ESP DHCP server is running on. My problem was the ESPs DHCP server was using 192.168.4.1 and my home WIFI router was issuing IP addresses in the 192.168.n.n range, thus being a conflict of 2x DHCP servers in the same range.... being why it was being denied a connection to the AP.
I couldn't be bothered tracking where the ESPs DHCP server IP address was being assigned as it looked hard coded deep in a library (lazy I know!), so I just changed my home router to issue addresses in the 10.10.n.n range.... and the ESP could now connect to the AP (home router).
I hope this helps someone else out there!