When I try to join my friends' world (not realm) I get stuck on "Connecting to multiplayer game" for several seconds before getting an "Unable to connect to world." message. Some of my other friends can join but others can't. I don't know if this relates, but I have the same Xbox Live account connected to both my phone (PE) and my computer, and both have Minecraft installed. Other people also can't join my world.
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Thank you for your report!
We're actually already tracking this issue in MCPE-36190, so I've resolved and linked this ticket as a duplicate.
If you would like to add a vote and any extra information to the main ticket it would be appreciated.
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Try to change your skin. There is a post claiming they have the same problem, but when changing your skin it lets you join.