Thanks for the quick response! I apologize for the gray-on-white text,
probably due to a browser extension
I had a similar thought in mind, so I went ahead and set the "Server
keepalive interval" to 10, in the "Session/Environment" configuration
section.
After about 10 minutes of idling I still experienced the same issue: all
SFTP actions failed with errors such as: "Unable to read file", "Unable to
open file" and "Unable to write to file" in guacd logs.
In addition, I tried setting "ClientAliveInterval" to 10 on the SSH
server's /etc/ssh/sshd_config file, still no luck.
I took a quick look at the code in guacd doing the "keep-alive"-ing, and
could not find anything off about it.

The thing I find most weird about this, is as I mentioned, the SSH session
remains fully functional after the idle duration (running shell commands,
reading/writing files). It seems to be a problem with SFTP in particular

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