SharePoint 2013 Health Analyzer: The Security Token Service is not available

Problem

You are building a new SharePoint 2013 farm and have completed adding a WFE to the farm.  After the SharePoint Products Configuration Wizard completes, you review the farm Health Analyzer reports and observe the following report:
 
You find the following entry in the SharePoint 2010 Central Administration Review problems and solutions All Reports listing:

Title	The Security Token Service is not available.
Severity	2 - Warning
Category	Availability
Explanation	The Security Token Service is not issuing tokens. The service could be malfunctioning or in a bad state.
Remedy	Administrator should try to restart the Security Token Service on the boxes where it is not issuing tokens. If problem persists, further troubleshooting may be available in the KB article. For more information about this rule, see "http://go.microsoft.com/fwlink/?LinkID=160531".
Failing Servers	[The-WFE-Recently-Added]
Failing Services	SPSecurityTokenService (SecurityTokenService)
Rule Settings	View

Solution

1. Start IIS Manager
2. Select Application Pools
3. Look for SharePoint Web Services Root.
4. If it is stopped, start the pool.
5. Under Sites, look for SharePoint Web Services and then select it.
6. If it is stopped, start the web service.

References

• The Security Token Service is not issuing tokens. The service could be malfunctioning or in a bad state
• The Security Token Service is not available (SharePoint 2013)

Notes

• This issue occurred immediately after completing the Productions Configuration Wizard on the first WFE being added to the farm.  It's unclear why this didn't start this time: previous configs on this same machine started without issue.