Asking for a passcode, despite not setting a passcode iOS 9.3

My iPad 2 has been asking for a passcode. Its never asked for it before and I've never set one but since upgrading to iOS 9.3 last night, the iPad has been asking for a passcode.

I decided to restore the iPad as I learnt that wiping it will get me back in as mentioned here If you forgot the passcode for your iPhone, iPad, or iPod touch, or your device is disabled - Apple Support.

However, I can't even sync with iTunes because I need to be able to get into the iPad.

If the only solution to get into the iPad is to wipe the data, then how else can I do this? Are there any other ways to bypass the passcode that wasn't set in the first place?