It says unable to connect when joining players in their world
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You can only join a world that is being hosted in the same release of the game. Since you are in the Beta, you can only join worlds hosted by other people on the Beta.
If you're trying to join a Realms world, the problem is that the Realms servers do not run beta versions.
If these explanations don't apply to you, please tell us whether you're trying to connect via LAN or Xbox Live, and whether your friends are sending you an invite and you're trying to accept it.

Resolved as a Duplicate of MCPE-36190.
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Resolved as a Duplicate of MCPE-36190.
If you need help or have a suggestion you might like to follow a link below.
Quick Links:
📓 Issue Guidelines – 🗪 Community Support – 💭 Feedback – 📖 Game Wiki
You can only join a world that is being hosted in the same release of the game. Since you are in the Beta, you can only join worlds hosted by other people on the Beta.
If you're trying to join a Realms world, the problem is that the Realms servers do not run beta versions.
If these explanations don't apply to you, please tell us whether you're trying to connect via LAN or Xbox Live, and whether your friends are sending you an invite and you're trying to accept it.