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Error trying to reconnect bonded device ncs v1.6.0

When I try to connect to a previously bonded device, I'm getting 

Disconnected (reason 0x3d)

and  bt_att: Unhandled ATT code 0x1d

and if I delete the bonds again and try to connect without pairing, I'm getting 

 bt_att: Unhandled ATT code 0x1d and the service discovery process is not working

Step to reproduce

  1. Open ncs/v1.6.0/zephyr/samples/bluetooth/peripheral 
  2. west build -b  nrf5340dk_nrf5340_cpuappns
  3. west flash --erase
  4. west flash
  5. Using nrfConnect for mobile application scan and connect to "Zephyr Peripheral Sample Long Name"
  6. Pair and Bond (the pin code will be shown in the console)
  7. Disconnect
  8. Connect again

It should connect, but instead it disconnect with reason 0x3d and the Unhandled ATT code 0x1d

Using the nRF Connect SDK v1.6.0 which is using Zephyr 2.6.0-rc1

Disconnected (reason 0x3d)

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