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How to programatically connect to an arbitrary peripheral device

I am using the example ble_app_uart_c, in which the nRF52840 is the central device. Theoretically, I could have more than one peripheral running the Nordic Uart Service (NUS). For this reason, I don't want to automatically establish a connection with the peripheral. How is can the central connect to a peripheral with a specific MAC address programmatically?

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