diff --git a/include/net/bluetooth/hci_core.h b/include/net/bluetooth/hci_core.h
index 5115da34f881..b4ee408100a3 100644
--- a/include/net/bluetooth/hci_core.h
+++ b/include/net/bluetooth/hci_core.h
@@ -960,7 +960,6 @@ enum {
 	HCI_CONN_CREATE_BIG_SYNC,
 	HCI_CONN_BIG_SYNC,
 	HCI_CONN_BIG_SYNC_FAILED,
-	HCI_CONN_CREATE_PA_SYNC,
 	HCI_CONN_PA_SYNC,
 	HCI_CONN_PA_SYNC_FAILED,
 };
@@ -1524,7 +1523,6 @@ bool hci_setup_sync(struct hci_conn *conn, __u16 handle);
 void hci_sco_setup(struct hci_conn *conn, __u8 status);
 bool hci_iso_setup_path(struct hci_conn *conn);
 int hci_le_create_cis_pending(struct hci_dev *hdev);
-int hci_pa_create_sync_pending(struct hci_dev *hdev);
 int hci_le_big_create_sync_pending(struct hci_dev *hdev);
 int hci_conn_check_create_cis(struct hci_conn *conn);
 
diff --git a/include/net/bluetooth/hci_sync.h b/include/net/bluetooth/hci_sync.h
index 7e2cf0cca939..93dac4c7f9e3 100644
--- a/include/net/bluetooth/hci_sync.h
+++ b/include/net/bluetooth/hci_sync.h
@@ -185,3 +185,5 @@ int hci_connect_le_sync(struct hci_dev *hdev, struct hci_conn *conn);
 int hci_cancel_connect_sync(struct hci_dev *hdev, struct hci_conn *conn);
 int hci_le_conn_update_sync(struct hci_dev *hdev, struct hci_conn *conn,
 			    struct hci_conn_params *params);
+
+int hci_connect_pa_sync(struct hci_dev *hdev, struct hci_conn *conn);
diff --git a/net/bluetooth/hci_conn.c b/net/bluetooth/hci_conn.c
index 7e1b53857648..c3112ce39f67 100644
--- a/net/bluetooth/hci_conn.c
+++ b/net/bluetooth/hci_conn.c
@@ -2064,95 +2064,6 @@ static int create_big_sync(struct hci_dev *hdev, void *data)
 	return hci_le_create_big(conn, &conn->iso_qos);
 }
 
-static void create_pa_complete(struct hci_dev *hdev, void *data, int err)
-{
-	bt_dev_dbg(hdev, "");
-
-	if (err)
-		bt_dev_err(hdev, "Unable to create PA: %d", err);
-}
-
-static bool hci_conn_check_create_pa_sync(struct hci_conn *conn)
-{
-	if (conn->type != ISO_LINK || conn->sid == HCI_SID_INVALID)
-		return false;
-
-	return true;
-}
-
-static int create_pa_sync(struct hci_dev *hdev, void *data)
-{
-	struct hci_cp_le_pa_create_sync cp = {0};
-	struct hci_conn *conn;
-	int err = 0;
-
-	hci_dev_lock(hdev);
-
-	rcu_read_lock();
-
-	/* The spec allows only one pending LE Periodic Advertising Create
-	 * Sync command at a time. If the command is pending now, don't do
-	 * anything. We check for pending connections after each PA Sync
-	 * Established event.
-	 *
-	 * BLUETOOTH CORE SPECIFICATION Version 5.3 | Vol 4, Part E
-	 * page 2493:
-	 *
-	 * If the Host issues this command when another HCI_LE_Periodic_
-	 * Advertising_Create_Sync command is pending, the Controller shall
-	 * return the error code Command Disallowed (0x0C).
-	 */
-	list_for_each_entry_rcu(conn, &hdev->conn_hash.list, list) {
-		if (test_bit(HCI_CONN_CREATE_PA_SYNC, &conn->flags))
-			goto unlock;
-	}
-
-	list_for_each_entry_rcu(conn, &hdev->conn_hash.list, list) {
-		if (hci_conn_check_create_pa_sync(conn)) {
-			struct bt_iso_qos *qos = &conn->iso_qos;
-
-			cp.options = qos->bcast.options;
-			cp.sid = conn->sid;
-			cp.addr_type = conn->dst_type;
-			bacpy(&cp.addr, &conn->dst);
-			cp.skip = cpu_to_le16(qos->bcast.skip);
-			cp.sync_timeout = cpu_to_le16(qos->bcast.sync_timeout);
-			cp.sync_cte_type = qos->bcast.sync_cte_type;
-
-			break;
-		}
-	}
-
-unlock:
-	rcu_read_unlock();
-
-	hci_dev_unlock(hdev);
-
-	if (bacmp(&cp.addr, BDADDR_ANY)) {
-		hci_dev_set_flag(hdev, HCI_PA_SYNC);
-		set_bit(HCI_CONN_CREATE_PA_SYNC, &conn->flags);
-
-		err = __hci_cmd_sync_status(hdev, HCI_OP_LE_PA_CREATE_SYNC,
-					    sizeof(cp), &cp, HCI_CMD_TIMEOUT);
-		if (!err)
-			err = hci_update_passive_scan_sync(hdev);
-
-		if (err) {
-			hci_dev_clear_flag(hdev, HCI_PA_SYNC);
-			clear_bit(HCI_CONN_CREATE_PA_SYNC, &conn->flags);
-		}
-	}
-
-	return err;
-}
-
-int hci_pa_create_sync_pending(struct hci_dev *hdev)
-{
-	/* Queue start pa_create_sync and scan */
-	return hci_cmd_sync_queue(hdev, create_pa_sync,
-				  NULL, create_pa_complete);
-}
-
 struct hci_conn *hci_pa_create_sync(struct hci_dev *hdev, bdaddr_t *dst,
 				    __u8 dst_type, __u8 sid,
 				    struct bt_iso_qos *qos)
@@ -2167,10 +2078,11 @@ struct hci_conn *hci_pa_create_sync(struct hci_dev *hdev, bdaddr_t *dst,
 	conn->dst_type = dst_type;
 	conn->sid = sid;
 	conn->state = BT_LISTEN;
+	conn->conn_timeout = msecs_to_jiffies(qos->bcast.sync_timeout * 10);
 
 	hci_conn_hold(conn);
 
-	hci_pa_create_sync_pending(hdev);
+	hci_connect_pa_sync(hdev, conn);
 
 	return conn;
 }
diff --git a/net/bluetooth/hci_event.c b/net/bluetooth/hci_event.c
index 5f808f0b0e9a..6c9e435d3d4f 100644
--- a/net/bluetooth/hci_event.c
+++ b/net/bluetooth/hci_event.c
@@ -6387,8 +6387,6 @@ static void hci_le_pa_sync_estabilished_evt(struct hci_dev *hdev, void *data,
 		goto unlock;
 	}
 
-	clear_bit(HCI_CONN_CREATE_PA_SYNC, &conn->flags);
-
 	conn->sync_handle = le16_to_cpu(ev->handle);
 	conn->sid = HCI_SID_INVALID;
 
@@ -6418,8 +6416,6 @@ static void hci_le_pa_sync_estabilished_evt(struct hci_dev *hdev, void *data,
 	}
 
 unlock:
-	/* Handle any other pending PA sync command */
-	hci_pa_create_sync_pending(hdev);
 
 	hci_dev_unlock(hdev);
 }
diff --git a/net/bluetooth/hci_sync.c b/net/bluetooth/hci_sync.c
index 7a822ef71a74..8e0d32cb058a 100644
--- a/net/bluetooth/hci_sync.c
+++ b/net/bluetooth/hci_sync.c
@@ -6905,3 +6905,68 @@ int hci_le_conn_update_sync(struct hci_dev *hdev, struct hci_conn *conn,
 	return __hci_cmd_sync_status(hdev, HCI_OP_LE_CONN_UPDATE,
 				     sizeof(cp), &cp, HCI_CMD_TIMEOUT);
 }
+
+static void create_pa_complete(struct hci_dev *hdev, void *data, int err)
+{
+	bt_dev_dbg(hdev, "err %d", err);
+
+	if (!err)
+		return;
+
+	hci_dev_clear_flag(hdev, HCI_PA_SYNC);
+
+	if (err == -ECANCELED)
+		return;
+
+	hci_dev_lock(hdev);
+
+	hci_update_passive_scan_sync(hdev);
+
+	hci_dev_unlock(hdev);
+}
+
+static int hci_le_pa_create_sync(struct hci_dev *hdev, void *data)
+{
+	struct hci_cp_le_pa_create_sync cp;
+	struct hci_conn *conn = data;
+	struct bt_iso_qos *qos = &conn->iso_qos;
+
+	if (!hci_conn_valid(hdev, conn))
+		return -ECANCELED;
+
+	if (hci_dev_test_and_set_flag(hdev, HCI_PA_SYNC))
+		return -EBUSY;
+
+	memset(&cp, 0, sizeof(cp));
+	cp.options = qos->bcast.options;
+	cp.sid = conn->sid;
+	cp.addr_type = conn->dst_type;
+	bacpy(&cp.addr, &conn->dst);
+	cp.skip = cpu_to_le16(qos->bcast.skip);
+	cp.sync_timeout = cpu_to_le16(qos->bcast.sync_timeout);
+	cp.sync_cte_type = qos->bcast.sync_cte_type;
+
+	hci_update_passive_scan_sync(hdev);
+
+	/* The spec allows only one pending LE Periodic Advertising Create
+	 * Sync command at a time so we forcefully wait for PA Sync Established
+	 * event since cmd_work can only schedule one command at a time.
+	 *
+	 * BLUETOOTH CORE SPECIFICATION Version 5.3 | Vol 4, Part E
+	 * page 2493:
+	 *
+	 * If the Host issues this command when another HCI_LE_Periodic_
+	 * Advertising_Create_Sync command is pending, the Controller shall
+	 * return the error code Command Disallowed (0x0C).
+	 */
+	return __hci_cmd_sync_status_sk(hdev, HCI_OP_LE_PA_CREATE_SYNC,
+				    sizeof(cp), &cp,
+				    HCI_EV_LE_PA_SYNC_ESTABLISHED,
+				    conn->conn_timeout, NULL);
+}
+
+int hci_connect_pa_sync(struct hci_dev *hdev, struct hci_conn *conn)
+{
+	return hci_cmd_sync_queue_once(hdev, hci_le_pa_create_sync, conn,
+				       create_pa_complete);
+}
