Hey there, try logging out of the site, and log back in with Steam, instead of using the authentication step of cross-save. That will make it so Steam is auto-authenticated during the cross-save process and you only need to authenticate the other accounts.
If you get logged right back into this account, things should be good. If it logs you into another Bungie account, or asks you to make a new one, or link an existing one, it means that account you just logged in with is a different one to the one you've got linked - hence the authentication error.
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Could you explain in a more detailed step by step? I have a hard time understanding it without visual
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Log out of Bungie.net, and log back in using Steam, and tell me what happens. 1 - logged back into the account you are posting on, 2 - asked you to make a new Bungie Account or link one?