How to resolve "Salesforce Authorization Failed" error
A "Salesforce authorization failed" error is generated while trying to integrate Salesforce and Jira.
This error is normally caused by disabling or terminating the Jira admin's account. And since a Connection is authorized using the Jira admin's Salesforce credentials, the Connector is unable to proceed.
Revoke the Connection from within both Salesforce and Jira to force creation of a new token.
You can use the same steps as shown in this KB - How to change the Salesforce integration user.