For anyone still looking at this in 2021, I have spent hours today with this error constantly looping back. After trying all the suggested fixes on this forum. weirdly enough I clicked on the change language option, set to UK (which it was already on) it then gave me a option to pair the device, once paired this time it continued to download the update for the OS hope this helps anyone, I would recommend trying all fixes on this page including this one. As different fixes have worked for different people