I would log back in again, and check that the uptime was still days whereas I had been away for much less than that. So I concluded the Pi hadn't rebooted, thereby disconnecting the terminals.
It always seemed to be after a somewhat lengthy time away, but sometimes not all that long (like a few hours).
I thought first it was possibly idle connections being cut. I played around with some settings but it didn't really do much.
After some reading online, I decided to try looking into power management on the WiFi adapter. This was the solution. The stackexchange discussion which led me to the solution is here (link).
The adapter I use is the recommended adapter noted in a prior post (link).
The commands required are seen below.
$ iwconfig wlan0 IEEE 802.11bgn ESSID:"DV_2.4Ghz" Mode:Managed Frequency:2.412 GHz Access Point: 00:81:D8:D5:46:3C Bit Rate=5.5 Mb/s Tx-Power=1496 dBm Retry short limit:7 RTS thr:off Fragment thr:off Power Management:on Link Quality=70/70 Signal level=-34 dBm Rx invalid nwid:0 Rx invalid crypt:0 Rx invalid frag:0 Tx excessive retries:0 Invalid misc:0 Missed beacon:0 $ sudo iwconfig wlan0 power off $ iwconfig wlan0 IEEE 802.11bgn ESSID:"DV_2.4Ghz" Mode:Managed Frequency:2.412 GHz Access Point: 00:81:D8:D5:46:3C Bit Rate=5.5 Mb/s Tx-Power=1496 dBm Retry short limit:7 RTS thr:off Fragment thr:off Power Management:off Link Quality=70/70 Signal level=-33 dBm Rx invalid nwid:0 Rx invalid crypt:0 Rx invalid frag:0 Tx excessive retries:0 Invalid misc:0 Missed beacon:0
After having run this command, the issue has not come up again.
A persistent on-boot configuration will likely be required. I doubt this command stays in effect across reboots.
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