If I am now understanding correctly:

====
The "smtpd_sasl_auth_enable=yes" configuration parameter for accessing "smtpd 
submissions", in master.cf, is *entirely distinct* from the 
"smtpd_relay_restrictions = permit_sasl_authenticated" configuration parameter, 
which subsequently allows access to "smtp relay", in main.cf.  To send mail 
using sasl authentication, *both* checks, or smtpd sasl and some other "smtp 
relay" check, have to succeed.  Otherwise, the smtpd log will only show 
"warning: SASL authentication failure: Password verification failed", even when 
the failure actually occurred with the "smtp relay" check, and not with the 
"smtpd submissions" check.
====

Since I was rather confused on this point, and confused by the log message - 
checking and rechecking the SASL configuration, in futility - other people 
might be as well.

Perhaps a bold print "Important" notice with the above text, or something 
similar, could be added to https://www.postfix.org/SASL_README.html under the 
section "Enabling SASL authorization in the Postfix SMTP server".

And/or, the log message could be made in stages, to distinguish explicitly 
whether the failure occurred with the master.cf "smtpd submissions" check or 
with the main.cf "smtp relay" check.

I know this may seem obvious in retrospect, and the SASL_README already says 
explicitly - though without emphasis - that:
----
 After the client has authenticated with SASL, the Postfix SMTP server decides 
what the remote SMTP client will be authorized for. ... These permissions are 
not enabled by default.
----
that language, to my mind, does not really convey the significance of this 
configuration parameter in main.cf, *in addition to* the configuration in 
master.cf, or the frustrating consequence of failing to configure this 
parameter properly.
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