This is (primarily) for a Linux box. It should work with any compliant OS.

To enable the keep alive system-wide (root access required), edit /etc/ssh/ssh_config; to set the settings for just your user, edit ~/.ssh/config (create the file if it doesn’t exist). Insert the following:

Host *
     ServerAliveInterval 300
     ServerAliveCountMax 2

You can also make your OpenSSH server keep alive all connections with clients by adding the following to /etc/ssh/sshd_config:

ClientAliveInterval 300
ClientAliveCountMax 2

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