ESP32 C3 - Cannot connect to BLE device

[RickARM]

The device I want to connect is bluetooth 4.2 and ESP32-C uses BLE 5.0.

I can connect with my Samsung Galaxy S22 which uses bluetooth 5.2.

I can connect with ESP32 WROOM with AT version 2.4.0.0, using the same commands as listed below.

Here are my atcommands:
AT+GMR
AT version:2.4.2.0(fb731d2 - ESP32C3 - Aug 25 2022 03:47:31)
SDK version:qa-test-v4.3.3-20220423
compile time(67966ba):Aug 26 2022 07:46:13
Bin version:2.4.2(MINI-1)

OK


AT+BLEINIT=1

OK


AT+BLESCAN=1,2,2,"FALC-31222250283"

OK
+BLESCAN:"f6:70:fe:13:b6:a3",-85,110946414c432d3331323232323530323833020105020aec050304180f18,,1
+BLESCAN:"f6:70:fe:13:b6:a3",-84,110946414c432d3331323232323530323833020105020aec050304180f18,,1
+BLESCAN:"f6:70:fe:13:b6:a3",-84,110946414c432d3331323232323530323833020105020aec050304180f18,,1
+BLESCAN:"f6:70:fe:13:b6:a3",-80,110946414c432d3331323232323530323833020105020aec050304180f18,,1
+BLESCAN:"f6:70:fe:13:b6:a3",-81,110946414c432d3331323232323530323833020105020aec050304180f18,,1


AT+BLECONN=0,"f6:70:fe:13:b6:a3"
+BLECONN:0,-1

ERROR