So just as a follow up (better late than never) I was able to resolve my issue by changing the mode of the router from N-Only to GN-Mixed. As soon as I did, the 950 connected without an issue. Its a Buffalo WZR-300HP running Firmware: DD-WRT v24SP2-MULTI (07/09/12) std.
TLDR That's great you got a reliable 802.11 G connection, however the phone still seems to have issues with 5Ghz connections (not just me and my ASUS, but many others across the forum have chimed in).
It would be hard to verify via the 950 OS, but most likely things are working because you are using 802.11 G (2.4Ghz WiFi). That means you are using a wireless standard adopted in 2003. This is fine for now because most people don't have internet much faster than 30Mbps (the max signal strength 802.11G connection will provide 54Mbps). The newer standards/drafts like N and AC have more channels that can be utilized to avoid interference with neighbors however. They also provide higher bandwidth (at shorter distances) so when your signal strength is lower, you don't dip below your internet speed @ 30Mbps for example.