Maybe the root cause of these two threads were same.
But the behavior to cause the pair issue are different, so I would like to trace them in different threads.
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You might have encountered the "can't communicate with device" error. This is mostly because the paging didn't go through. The phone is sending ID packets on channels that do not overlap with the channels 20719 is scanning on.
You could refresh the scanned device list before connecting. During inquiry, the clock of the slave is received by the phone which can be used to aid the paging process.
However, the "incorrect PIN" could be an issue. I am not able to reproduce the "incorrect PIN" issue with WICED 6.1 and a couple of Android phones.