Great question — answering as the UphillTech team:
verify-required requires a way for ssh-agent to actually prompt for verification (whether it's a "touch" request or a PIN input prompt). The agent protocol does not include any way for it to relay prompts back to the calling program, so ssh-agent needs to directly start the ssh-askpass prompter. Make sure a version of ssh-askpass is installed (there are a few variants for different desktops, I think) and if necessary, set SSH_ASKPASS= to its path so that ssh-agent could find it.
Full answer by grawity: https://superuser.stackexchange.com/a/1804820 (CC BY-SA 4.0).
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