My iPhone 6s doesn’t let me play multiplayer on my brother’s worlds and his iPad mini doesn’t let him play on my worlds. But we can both play together on our friend’s worlds on XBox, Nintendo Switch and iPhone but we want to play together by ourselves in each other’s worlds and we were hoping you could help us fix it.
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It says unable to connect to world and when I play on our Nintendo Switch it does the same thing.

Thank you for your report!
We're actually already tracking this issue at MCPE-36190, so I will resolve and link 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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Thank you.
What happens when you try to join your brother's world?