What hub firmware are you on? There was a recent update, 2.2.3, that addressed many of these problems on the C-7 model that it sounds like you have. There is also a Z-Wave radio firmware update you need to do afterwards. Those steps are addressed in this post:
If that's still happening (or you prefer an older version for some reason), you could try the steps that were necessary for some 2.2.2 users with some devices:
As far as I know, Lutron does not make Z-Wave switches (and has only minimal entries in the Zigbee product space). These would have been added over the LAN if you have Caseta or RA2 and are not subject to Z-Wave/S2 issues that it sounds like you're experiencing above. If you meant Leviton, it's possible your devices have no security or S0, neither of which will prompt you like S2, and some devices seem to be easier to pair than others. I'm sure these issues will get sorted out in time. The C-7 was just released, 700-series Z-Wave hubs (like the C-7) are rare (Hubitat is probably the first), and not a lot of hubs support S2 yet, so there are likely issues to be worked out with all three. Hope things get better for you!
