First, I would recommend using the same ROS 2 version of both sides (I see you're using Ardent and Bouncy, which is just master right now).
Second, makes sure multicast UDP is working between machines. You can use `netcat` to check, see:
https://serverfault.com/a/315564/186748
If that works and discovery still isn't happening, then consider filing an issue because that might be a bug.
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