Nexus 7 (2013) WiFi Connection/Reconnection Issue
Looks like it's related to "Wi-Fi optimization" option under "Advanced" setting in Wi-Fi screen. By turning it off I can consistently find the WiFi AP I was looking for. Once it's connected I can turn it on again without negative consequences.

Edit:
Nevermind, looks like it only help some of the time, there are still times when the device cannot find the AP every other device has no problem discovering and connecting to...