TPS23841 is in auto mode.
It successfully detects a PoE camera.
With a POE Splitter (POE21-120) the discovery seems to fail. The discovery fail bit is set in Status 1 register, but it also shows that a class 1 device was detected. It seems like maybe it got part way through the discovery process. No faults are reported. Power is being supplied to the POE splitter.