I am referencing this support page:
If you're asked to click Connect before reconnecting to a server - Apple Support
this file: /Library/Preferences/com.apple.NetworkAuthorization does not exist on my 10.12 installs. Has it been moved?
I just manually create a new blank file and the command worked. I guess it's not part of the initial install and needs to be added if you want to change those options.
BTW, two other handy flags for this file are:
$ defaults write /Library/Preferences/com.apple.NetworkAuthorization UseDefaultName -bool NO
$ defaults write /Library/Preferences/com.apple.NetworkAuthorization UseShortName -bool YES
This changes the connect to server prompt to use the short name instead of the full name. Very useful for AD accounts that want to put in Last Name, First Name.