The "passwords do not match" implies or makes it appear that your auth code is wrong but actually you have to click "View additional settings" and then see there are 2 password fields to manage the domain once it is transferred (the password is typed twice for confirmation). Simply fill out a password twice or remove the first password fields contents and all will be well.
The Solution:
Fix the issue with the "Access Password". Either remove the first password field's contents or type your password in both fields.
