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I wonder if this is even possible - given the RPi Org's fetishes re security. However: you might try this: Open a terminal window on yr RPi desktop, and run bluetoothctl. I'll leave it to you to read the docs, but (at least in my experience) bluetoothctl prompts you to accept/reject a PIN. If you accept it, you should be good for all eternity between those two MACs.
PIN, notpin, because it is an acronym ... it is correct in the titlebluetoothctl. I'll leave it to you to read the docs, but (at least in my experience)bluetoothctlprompts you to accept/reject a PIN. If you accept it, you should be good for all eternity between those two MACs.