I have found the solution by happenstance:

(I am using XFCE in German, so maybe the wording I describe here is not 100% 
accurate)
In the XFCE settings menu -> Session management -> Automatically started 
applications, there is an Item "Policykit Authentication Agent".
This was unchecked. Re-check, reboot (probably logout and login is sufficient), 
and it is back working.

But: I am absolutely sure I did not remove the check. On one of the
affected computers, I have never been in this dialog before.

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https://bugs.launchpad.net/bugs/976638

Title:
  pkexec does not find any authentication agent

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