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Originally Posted by Daffy

I think this is wrong. "Wpapsk" was being used up until 4.9. Someone correct me if I'm wrong, but ifconfig(8), states that you must use "wpakey" instead.

So you should use

ifconfig <interface> nwid <id> wpakey <key>

You’re right. From /usr/src/sbin/ifconfig/ifconfig.c:

        { "wpakey",     NEXTARG,        0,              setifwpakey },
        { "-wpakey",    -1,             0,              setifwpakey },
/*XXX delete these two after the 4.9 release */
/*XXX*/ { "wpapsk",     NEXTARG,        0,              setifwpakey },
/*XXX*/ { "-wpapsk",    -1,             0,              setifwpakey },

The options do the same thing but wpapsk will be removed soon.