Pairing failed with BT_SECURITY_ERR_PIN_OR_KEY_MISSING error.

Hi all
I have two units, one acts as Central and the other one acts as Peripheral.
I erase chip of one of the units, and then always failed to pairing, with a BT_SECURITY_ERR_PIN_OR_KEY_MISSING error.
Are there any settings or APIs to make the pairing successfully completed even if the PIN or KEY has been erased?
My development environment:
SDK: ncs v1.9.1,
CHIP: nrf52840

As a reference, when developing with legacy SDK sdk15.2, I always use the following codes to get the units successfully repaired:
Thank you very much!
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