Android device won’t connect to iPhone 11 hotspot over WiFi

If Personal Hotspot is not working on your iPhone or iPad (Wi-Fi + Cellular) - Apple Support

You may or may not need the info above since it was connected before, review it anyway...Then change the name of your iPhone...

Change the name of your iPhone, iPad, or iPod using your computer - Apple Support

Redo the connection in your other device with the new iPhone name...

See here...might help...https://www.digitbin.com/fix-wifi-authentication-error-android/

Are you sure you are entering the correct password in on the Android? Try forgetting the network and trying to connect again and entering the password for your Hotspot.