I figured it out:
adb shell pm clear com.android.rkpdapp
The above command fixes attestation on the device. Unfortunately this system app's data can't be cleared from the app list (even after "show system apps"), so you need to enable adb for this. It'd be nice if this was blacklisted from seedvault export/import :)
I also cleared the "key chain" com.android.keychain and Auditor app app.attestation.auditor data at some point, so it's possible clearing those are required as well.