I will use nmcli to do this task.

First you need to install network-manager package, and start the Daemon

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$ sudo apt install network-manager
$ sudo systemctl start NetworkManager

Then let's check the network interface status by below command

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$ nmcli dev status
DEVICE          TYPE      STATE         CONNECTION
wlp2s0          wifi      connected     xibuka-wifi-5G
enp0s31f6       ethernet  connected     netplan-enp0s31f6
p2p-dev-wlp2s0  wifi-p2p  disconnected  --
eth0            ethernet  unavailable   --
lo              loopback  unmanaged     --

Next step is to check the available Wifi access points.

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$ nmcli dev wifi list 
SSID            MODE   CHAN  RATE        SIGNAL  BARS  SECURITY  
aterm-55ebc5-g  Infra  11    405 Mbit/s  77      ▂▄▆_  WPA1 WPA2 
xibuka-wifi-2G  Infra  11    405 Mbit/s  77      ▂▄▆_  WPA1 WPA2 
xibuka-wifi-5G  Infra  36    405 Mbit/s  63      ▂▄▆_  WPA1 WPA2 
aterm-55ebc5-a  Infra  36    405 Mbit/s  54      ▂▄__  WPA1 WPA2 
HG8045-0D9B-bg  Infra  8     195 Mbit/s  49      ▂▄__  WPA1 WPA2 
HG8045-0D9B-a   Infra  44    405 Mbit/s  35      ▂▄__  WPA1 WPA2 
HG8045-A39A-a   Infra  108   405 Mbit/s  35      ▂▄__  WPA1 WPA2 
MNG6300-F560-G  Infra  11    130 Mbit/s  30      ▂___  WPA1 WPA2 

If you can not see the SSID you want to use, you can do a re-scan by below command

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nmcli dev wifi rescan

OK, let's try to connect to Wifi using below nmcli command

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$ sudo nmcli dev wifi connect xibuka-wifi-5G password 'xxxxxxxxxx'
Device 'wlp2s0' successfully activated with 'f1cc419e-7b51-4d99-8cff-2894dc054f19'.

Or you can use --ask option to input your password interactively and don't display it.

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$ sudo nmcli --ask dev wifi connect xibuka-wifi-5G 
Password:
Device 'wlp2s0' successfully activated with 'f1cc419e-7b51-4d99-8cff-2894dc054f19'.

Delete the established connections

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sudo nmcli con del xibuka-wifi-5G

That's all! Hope this help you.