With Beta 10.9.4 (2161) (Oct 06, 2023 release), it hangs at "Connecting to name, Configuring remote PC...". The 10.9.4 (2161) release on the non-beta channel works fine, running on the same Mac. The beta version worked until I upgraded on Oct. 17. I was on one of the September releases, probably a pretty recent one.
The hang at "Connecting" lasts forever, or at least for many minutes until I give up and cancel it.