The answer depends a lot on your home and how you go about building out the mesh and the devices (vintage) involved. All ZWave Plus is the right way to go to get "Include In-Place" to work well. But you can't start with the first device being 100ft and 3 walls away.
Follow the guide for building out a mesh, (close, powered before battery) and Include them in place to begin with.
@JoeJ
Also anytime you have a failed pairing,STOP! Check your z-wave settings page for ghosts (nothing in the route column) and delete it. Exclude the device before including again.
Install mains powered stuff first before battery devices.