Does PAwR and AUX_CONNECT_REQ need Resolvable Private Addresses (RPA)?

I'm a bit confused about configuration necessary for PAwR where a connection is initiated with AUX_CONNECT_REQ as in examples periodic_adv_conn/periodic_sync_conn. If I disable CONFIG_BT_PRIVACY and CONFIG_BT_SMP, the connection creation times out. Also changing the extended advertising configuration to advertise with the device's identity address does not prevent the timeout. Are there other configuration or settings needed to make the example work without CONFIG_BT_PRIVACY disabled? And if not could you point to the part in the Bluetooth spec where this requirement comes from?

I'm aware of compromising privacy when disabling it, but I couldn't find something in the Bluetooth spec demanding BT privacy enabled for PAwR and connection establishment.

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