Incorrect or out of date login key

Occasionally, when trying to access the front page of a site after a while where I used to be logged in, I get this message instead of seeing the web page:

Incorrect or out of date login key

The site URL gets ?__domainmap_action=domainmap-authorize-user&auth=...|...|... with a long string that looks like the login key in question.

Kinda frustrating because there seems to be no way around it. Trying to access the front page URL (without that string) again yields the same result.

This issue seems to come and go without any explanation. Is there anything that can be done to prevent this?