ASUS "DHCP not functioning correctly" message

I'm also getting the dreaded "Your ISP's DHCP does not function correctly" message. I have an ASUS RT-AC87R router connected to a NetGear CM500-100NAS cable modem. I can get to the internet via a cable to the cable modem, but the router does not seem to want to connect to the cable modem. What should I try next?

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