I created an issue over on HA's Core repository for this issue but I'm not sure who would actually have to fix this.
home-assistant/core#128305 is the link to it. It has the information, screenshots, etc.
Basically, when going to ha.domain.tld, I get prompted by Authentik. I sign in. Then I get the screenshot showing the invalid redirect URI. If I then just try ha.domain.tld again after I authenticated, I can click Log In and get to the dashboard.
I'm not sure what I need to change or where to fix this or if its a bug with HA or this integration.
Hoping to find some direction here.