Two way TLS handshake error

[hank179]

Version
warp = {version = "0.3.3", features = ["tls"]}

Platform
macOS 12.5

Description
I am trying to setup dual TLS for warp, however the TLS handshake fails on client authorization.

Code snippet:

    async fn handler() -> Result<impl Reply, Rejection> {
        Ok("success".to_string())
    }

    #[tokio::main]
    pub async fn web_service() {
        let metrics_route = warp::path("metrics").and(warp::get()).and(warp::path::end()).and_then(handler);
        warp::serve(metrics_route)
            .tls()
            .cert_path("server/cert.pem")
            .key_path("server/rsaprivkey.pem")
            .client_auth_required_path("client/cert.pem")
            .run(([0, 0, 0, 0], 9100)).await;
    }

Private keys and certificate generation (separately in client and server folders):

openssl genrsa -out rsaprivkey.pem 2048
openssl pkcs8 -topk8 -inform PEM -outform PEM -in rsaprivkey.pem -out rsaprivkey8.pem -nocrypt
openssl req -new -x509 -key rsaprivkey8.pem -out cert.pem
rm rsaprivkey.pem 
mv rsaprivkey8.pem rsaprivkey.pem 

To test:

1. start web_service
2. in terminal:
   run openssl s_client -connect localhost:9100 -cert client/cert.pem -key client/rsaprivkey.pem -CAfile server/cert.pem -debug
   output:

***
4377953664:error:14094410:SSL routines:ssl3_read_bytes:sslv3 alert handshake failure:ssl/record/rec_layer_s3.c:1544:SSL alert number 40

OR

run curl -k -iv --cert client/cert.pem --key client/rsaprivkey.pem --cacert server/cert.pem https://localhost:9100
output:

*   Trying 127.0.0.1:9100...
* Connected to localhost (127.0.0.1) port 9100 (#0)
* ALPN, offering h2
* ALPN, offering http/1.1
* successfully set certificate verify locations:
*  CAfile: server/cert.pem
*  CApath: none
* (304) (OUT), TLS handshake, Client hello (1):
* (304) (IN), TLS handshake, Server hello (2):
* (304) (IN), TLS handshake, Unknown (8):
* (304) (IN), TLS handshake, Request CERT (13):
* (304) (IN), TLS handshake, Certificate (11):
* (304) (IN), TLS handshake, CERT verify (15):
* (304) (IN), TLS handshake, Finished (20):
* (304) (OUT), TLS handshake, Certificate (11):
* (304) (OUT), TLS handshake, CERT verify (15):
* (304) (OUT), TLS handshake, Finished (20):
* SSL connection using TLSv1.3 / AEAD-CHACHA20-POLY1305-SHA256
* ALPN, server accepted to use h2
* Server certificate:
*  subject: C=AU; ST=Some-State; O=Internet Widgits Pty Ltd
*  start date: Nov  8 08:38:26 2022 GMT
*  expire date: Dec  8 08:38:26 2022 GMT
*  issuer: C=AU; ST=Some-State; O=Internet Widgits Pty Ltd
*  SSL certificate verify ok.
* Using HTTP2, server supports multiplexing
* Connection state changed (HTTP/2 confirmed)
* Copying HTTP/2 data in stream buffer to connection buffer after upgrade: len=0
* Using Stream ID: 1 (easy handle 0x140014000)
> GET / HTTP/2
> Host: localhost:9100
> user-agent: curl/7.79.1
> accept: */*
> 
* LibreSSL SSL_read: error:1404C410:SSL routines:ST_OK:sslv3 alert handshake failure, errno 0
* Failed receiving HTTP2 data
* LibreSSL SSL_write: SSL_ERROR_SYSCALL, errno 0
* Failed sending HTTP2 data
* Connection #0 to host localhost left intact
curl: (56) LibreSSL SSL_read: error:1404C410:SSL routines:ST_OK:sslv3 alert handshake failure, errno 0

Everything works fine when I disable client authentication. It may be that I misunderstand the way dual TLS should be used, but I spent a lot of time trying to make this work (including different ways and types of ssl keys and certificates)