Ok, I have a solution. We know the ssid password and password.
nmcli c add type wifi con-name <connect name> ifname wlan0 ssid <ssid> nmcli con modify <connect name> wifi-sec.key-mgmt wpa-psk nmcli con modify <connect name> wifi-sec.psk <password> nmcli con up <connect name>
If we no longer need a connection:
nmcli c delete <connect name>
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