If you have 3rd party ‘protection’ software installed, that may be the problem. For example, ESET has been reported to prevent external drives and memory cards from mounting. Such 3rd party system ‘helpers’, ‘cleaners’ and ‘protectors’ do more harm than good. In fact, such products are completely unnecessary for macOS and the only‘good’ (if you want to call it that) they do is to put money in the developers’ pockets. For the user, they offer only harm…and if that is limited to harm to your bank account, then count yourself lucky.
Given that it mounts in Safe Mode (which would disable things like ESET), I suspect something like that is the culprit, but…
If you have a Mac laptop computer (not applicable to Mac desktops), accessories must be allowed to connect. Go to System Settings > Privacy & Security > Accessories, try changing it to Automatically allow when unlocked or Always allow.

There were a few prior posts on this forum from users who couldn’t access their external drive due to the drive manufacturer’s software that they used to encrypt the drive. Lacie/Seagate, Samsung, SanDisk, etc., all provide 'drive management' software on their drives and using such 3rd party software can cause issues when macOS is updated and the 3rd party software becomes incompatible. Not sure if that's theissue here, but FYI the best practice with a new external drive (SSD/HDD, not applicable to NAS drives) is to use Disk Utility to complete erase it, format it as GUID/APFS and apply encryption if desired.