Relevant lines from dmesg:

[   78.540171] IPv6: ADDRCONF(NETDEV_UP): wlan0: link is not ready                           <-- This appeared after `ip link set wlan0 up`
[  352.377279] wlan0: authenticate with 00:1f:1f:67:da:48                                    <-- The rest appeared after running wpa_supplicant
[  352.390025] wlan0: send auth to 00:1f:1f:67:da:48 (try 1/3)
[  352.391096] wlan0: authenticated
[  352.399977] wlan0: associate with 00:1f:1f:67:da:48 (try 1/3)
[  352.403276] wlan0: RX AssocResp from 00:1f:1f:67:da:48 (capab=0x431 status=0 aid=3)
[  352.403353] wlan0: associated
[  352.403725] IPv6: ADDRCONF(NETDEV_CHANGE): wlan0: link becomes ready