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After starting some more instances and reading logs across multiple compute nodes this little gem showed up in /var/log/nova/compute.log:

TRACE nova.openstack.common.rpc.amqp ImageNotAuthorized: Not authorized for image


Turns out I needed to add the following to /etc/nova/nova.conf (which was not in the OpenStack docs I used to build the environment):

auth_strategy=keystone


Then I just restarted nova-network & nova-compute across the Compute nodes and it all started working!