For me, it came down to checking all the basics:
- Verify my assetLinks file is good with this tool: (replace domain1:port with your domain)
https://digitalassetlinks.googleapis.com/v1/statements:list?source.web.site=https://domain1:port&relation=delegate_permission/common.handle_all_urls
- Always test with a signed APK
- Make sure the test device is running Android 6.0 or later (this is the one that bit me because I forgot it - on older versions of android, you always get the user prompt)