I had the same problem with my Mac Mini 2018. It seemed to happen regularly to the point that I just turned it off after each use with hopes that a future update would fix the issue. When Sequoia 15.3.1 came out, I waited a week (as per my usual) to install it. After I did install it after being satisfied that others were not having problems in general, the sleep issue seems to have been resolved. Granted, I haven't used the machine as much the last month but I was satisfied the problem was resolved after letting it run nearly a full week without powering it down. My Mac Mini resumed operations fine many times during the day and overnight.
You don't say what year/iteration your Mini is - and you do state that you are running 15.3.1 - just saying that this version seemed to fix my Intel-based Mac Mini.