Tool/software: Linux
I may have found the solution to this problem. After spending many weeks trying to compile newer drivers with no success, I stumbled upon a Google reference to using P2P GO in an embedded environment such as a printer. Apparently, the following two wpa_cli commands keep the P2P GO up and running:
wpa_cli -iwlan0 p2p_ext_listen
wpa_cli -iwlan0 p2p_listen 600
Issuing these two commands before performing the p2p_group_add command works. I need to test this out further but the results are promising.