Control Nearby Devices fails to connect iPad from iPhone

Hi all!

I'm desperately trying to use the "Control Nearby Devices" feature to control my iPad from my iPhone. Both devices are updated and connected to the same wifi network. My iPad shows up in the device list but when I click it, it says it "failed to connect". I'm not sure what the issue is, I've restarted both, toggled the wifi and bluetooth on/off, and I've sat my phone on my iPad while trying to connect. Can someone help??