I have tried deleting most of my worlds, making a completely new account, and even completely re-installing the game but all of my friends get the "unable to connect to world" when joining me, and I can only occasionally get into my friends worlds without the same error.
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We're tracking this issue in MCPE-36190, so this ticket is being resolved and linked as a duplicate.
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This bug does not happen to me on Nintendo Switch 1.19.20.