Bluetooth Companion Device Manager Not Working on S21 Android 14

The Android Companion Device Manager functionality is not working on the Galaxy S21 with Android 14. I have built a minimalist reference application and confirmed it works as expected on Galaxy S22, S23 and ZFold with Android 14 , but does not work on the S21 with Android 14.

The specific problem is that the dialog described in Figure 2 on this page never displays: Companion device pairing  |  Connectivity  |  Android Developers even though the device is discovered and the callback is executed here:

    override fun onAssociationPending(intentSender: IntentSender) {
        intentSender?.let {
             startIntentSenderForResult(it, SELECT_DEVICE_REQUEST_CODE, null, 0, 0, 0)
        }
    }

A minimalist app demonstrating this problem with instructions is here: