We had similar issue and 🐛 reCAPTCHA ignores “Omit challenges in a multi-step/preview workflow…" setting Needs work didn´t solve it for us.
Webform was sent twice instead of once so the captcha : "The answer you entered for the CAPTCHA was not correct." and in the log showed the error "The challenge response timed out or was already verified." was correct because the error came up for the second webform submission.
We had to solve the double submission issue. Just noticed it was connected to old webform issue. I leave it here for other people who looks for solution.
Drupal version: 8.9.13
PHP version: 7.3.33
captcha version: 8.x-3.2
webform version: 8.x-5.24
We had the same issue here and #2 → patch resolved it. Thank you @ujjval-kumar-jha.