Identified the device but can’t connect to Samsung TV?

You need physical TV Remote to: 

1. Allow Authorization.
2. Connect to the same Wi-Fi Network. 

If you have clicked on deny button by mistake then follow the below instruction:

1- Samsung TVs from 2012 to 2014 (E, F, H Models) :

First, go (on your Samsung TV) to Network / All share Settings / Content Sharing, then select the device with Universal Remote next to it. Click it and change it to allow. 

2- Samsung TVs from 2015 to 2016 (J and K Models) :

Go to (on your Samsung TV) to Network / Multimedia Device Manager, select the device with Universal Remote, and Select Allow.

3- Samsung TVs from 2017 (M. N. R Models and OLED) :

 Go to General / External Device Manager / Device Connection Manager / Device List, select the device with Universal Remote, and select.