This issue occurs due to incorrect configuration of IPv6 on PCS appliance. VPN Connection profile will have an IPv6 address pool configured, however IPv6 is disabled on Internal Port. Below error is seen in client debug logs:
SYSTEM PulseSecureService.exe dsTMService p7352 t17D0 internal.cpp:703 -
'VAMGR' ++C_VaAdapter::SetIPv6Address[1](): CreateUnicastIpAddressEntry failed,
err=1168
SYSTEM PulseSecureService.exe dsTMService p7352 t17D0 ManagerVA.cpp:116 -
'TM' setAdapterMediaConnectStatus failed (0x2798d48), error=1