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How to manual connect BLE Device in ble_central?

I have a project using NRF52840 as master in BLE central to scan BLE device.

I found all example will connect device automatically when device found

I would like to change scan and search all matched device and store in a list(this part is done) and select one device in list to connect

but no example and not found useful information on internet about how to connect device, did any one can help on this?

FYI: I use latest SDK: 17.0.2 and softdevice S140

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