hi there
unfoutuantly i have the same issue as you and have been trying this lately but also am having no luck
on the upside (if you can call it that) i can have the vlans working ssid assigned, so not radius assigned but one ssid per vlan and this all works here as i have it now
basially the differences between our setup and yours is such i have a dedicated interface on the pfsense for vlan trunk seperate to my lan interface to main switch (also handles the vlans) so pfsense to switch two cables one lan one all vlans as a tunk port (i did this as the pfsense is routing to and from lan to vlan and wanted some more bandwidth
the in the unifi i have the ssid set to vlan as you do and on the switch config the vlans are set on the ports bettween aps and pfsense as tagged vlans
one las this reading around it looks like you do not set the vlan id for radius assigned vlans i noticed that in you config you have an ssid with a vlan
hope somehow this helps or someone comes along to put us both right ill keep tinkering in the meantime
one thing i did find on the subject though is this :- https://community.ubnt.com/t5/UniFi-Wireless/I-need-help-setting-up-dynamic-vlan-assignment/td-p/1661658