I now have a working filter for spotting checkpass violations on CentOS 6. 
The error message does have two case variations.

Here's my sendmail-sasl.conf. Note there are two regex lines for failregex.

# Fail2Ban filter for sendmail authentication failures
#

[INCLUDES]

before = common.conf

[Definition]

_daemon = sendmail

failregex = ^%(__prefix_line)s\w{12,14}: AUTH failure \(LOGIN\): 
authentication failure \(-13\) SASL\(-13\): authentication failure: 
checkpass failed, relay=(\S+ )?\[<HOST>\]( \(may be forged\))?$
            ^%(__prefix_line)s\w{12,14}: AUTH failure \(Login\): 
authentication failure \(-13\) SASL\(-13\): authentication failure: 
checkpass failed, relay=(\S+ )?\[<HOST>\]( \(may be forged\))?$

ignoreregex =

# Author: Kenneth Porter




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