This comes from OTP:OpenVPN has a default of one hour, where the authentication is valid and needs to re-authenticate after this time. Because your one time password is not valid anymore at this time, the authentication fails and OpenVPN stops the connection. You need to change the amount of time between re-authentication and it will work longer. Because of this, you cannot use it in a way it is useful for a site-to-site vpn. Use a certificate instead of OTP for this use cases and OTP for road warrior connections.
At the bottom of the server config page in a recent OPNsense you find "Renegotiate time" where you can disable renegotiation. See the help description for details.The whole OpenVPN stance on renegotiation is a bit silly as it essentially voids your credentials with OTP and the credentials are static when it's not OTP, but that is for OpenVPN to ride out.