Change Auditor Agent is unable to connect to the Coordinator (4254649)

The Change Auditor Agent is unable to connect to the Change Auditor Coordinator and the following error is recorded in the Change Auditor Agent log:

5.x

Message: Connection attempt (NPRepository4(DEFAULT)/CHANGEAUDITOR)/W-001.xyz.com) failed. NetProLib::Protocol::CConnection::InitiateAuthentication - Unable to authenticate to SPN: NPRepository4(DEFAULT)/CHANGEAUDITOR)/W-001.xyz.com  Msg: NetProLib::Protocol::CConnection::ReceiveAll - Returned by WSARecv or WSARecvFrom to indicate the remote party has initiated a graceful shutdown sequence.. Connection: 0000000001D656A0

6.x

System.ServiceModel.Security.SecurityNegotiationException: The server has rejected the client credentials. ---> System.Security.Authentication.InvalidCredentialException: The server has rejected the client credentials. ---> System.ComponentModel.Win32Exception: The logon attempt failed