adb pair for Wireless debugging of Android phone from Ubuntu

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I am trying to run adb shell commands on an Android phone from my Ubuntu machine. The Android phone (192.168.1.123) is on my wifi network while the Ubuntu machine (192.168.1.122) is on the wired network. Under the Wireless debugging screen, the phone has an option called Pair device with pairing code.

I am unable to run adb pair 192.168.1.123:37795 (37795 is the port provided by device to pair with pairing code) because it gives the error

$ adb pair 192.168.1.202:37795
adb: unknown command pair

Tried using adb connect but it fails:

$ adb connect 192.168.1.123:37795
failed to connect to 192.168.1.123:37795

I think I am already on the latest version of adb:

$ adb version
Android Debug Bridge version 1.0.41
Version 28.0.2-debian
Installed as /usr/lib/android-sdk/platform-tools/adb

What else can I try to run adb shell commands on the phone from my Ubuntu machine?

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