I have exactly the same problem described above, which at the risk of boring 
everyone I will repeat:
PC - HP Pavilion zv6000, Broadcom B43 wireless driver.
Networking is absolutely fine when connected, but never connects automatically 
after reboot or suspend - you have to manually do the following:
1. Select the wireless network icon (which has the red exclamation point)
2. Connect to Hidden Wireless Network
3. In the dialog which then opens click the down arrow on Connections to find 
the network you already configured
4. You then get an Authenticate dialog where you have to type in your password
5. Then you see another dialog which shows your connection details grayed out 
and you click connect, at which point we are back in business.
All the usual boxes are checked for automatic reconnect and all users, and I 
even went into the Users and Groups manager, clicked Advanced Settings, User 
Privileges tab and made sure the box was checked for Connect to Wireless and 
Ethernet networks.
One interesting thing I did note was that if I right click on the wireless icon 
and then Edit Connections and the Wireless tab my connection is shown there but 
under the Last Used column it says "Never", which clearly isn't right and may 
be a clue...
I hope someone finds an answer to this because its really spoiling what would 
otherwise be a good experience with 10.04.

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NetworkManager in Ubuntu Lucid 10.04 does not auto-connect to Wireless Networks 
marked "Connect Automatically"
https://bugs.launchpad.net/bugs/583743
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