Holy hell I figured it out. What a rabbit hole, and of course it is all about how terrible Vivint is. In pursuing connecting to the Qolsys panel pairing further, I discovered my locks had been configured in the Vivint system with "anti-theft" enabled (by default of course), which is Vivint speak for "make-a-brick-if-you-change-providers." Properly removing the device from the Vivint panel, WITH the Vivint panel seems to be the only way to keep devices functional on future radios (they will seem to have paired correctly, but won't work properly).
So this is in the context of having 5 door locks that were NOT properly removed from the Vivint, but simply "excluded" by their new radio before pairing (by the new security tech who just told me "they're too old", which in theory should work, except when Vivint is involved. If you remove them properly from Vivint first, you may not have to take all the steps I did. I recommend "disabling theft protection" first, and THEN removing the node (several times), then trying to pair with the new controller. Here is what I did. Multiple trials with slight variations from these steps all failed, so I'm uncertain which are the most essential, but have my suspicions. Requires being in the installer menu- Z-wave devices. Code is 2203 but you may need to have Vivint unlock the panel for it to work.
1- Re-pair the device back into Vivint (failed several times, but keep removing and adding)
2- Name the device (I suggest "Vivint sucks")
3- When prompted select ENABLE theft protection (if not prompted, find the option and enable it).
4- Test the device, verify it's working (probably not needed, but it worked once, so I kept doing it).
5- Manually disable anti-theft protection (don't skip this!)
6- Enter "remove multiple devices" and exclude the lock from Vivint 5 times (for luck...)
7- Do NOT exclude the device on the new controller before pairing (I don't know why, but it always failed if I did. If you have different results, give it a try).
8- Pair in the new hub.
This same process worked to get the locks into both HE and Qolsys. Interestingly it did not matter if the lock had been factory reset or not. Factory resetting didn't help either without doing the Vivint exclude. I suspect the key actions are 1- make sure it is joined with anti-theft (if it ever had it before), then 2- Disable anti-theft to fix whatever mojo Vivint did to the hardware, then 3- Exclude with the Vivint panel.
Hopefully this helps someone in the future banging their head on a wall.
