diff --git a/scripts/tools/check_includes_config.py b/scripts/tools/check_includes_config.py
index 81b2a481c472f9..cbf0b405c720dd 100644
--- a/scripts/tools/check_includes_config.py
+++ b/scripts/tools/check_includes_config.py
@@ -149,9 +149,9 @@
     # Uses platform-define to switch between list and array
     'src/lib/dnssd/minimal_mdns/ResponseSender.h': {'list'},
 
-    # Not really for embedded consumers; uses std::queue to keep track
+    # Not really for embedded consumers; uses std::deque to keep track
     # of a list of discovered things.
-    'src/controller/SetUpCodePairer.h': {'queue'},
+    'src/controller/SetUpCodePairer.h': {'deque'},
 
     'src/controller/ExamplePersistentStorage.cpp': {'fstream'}
 }
diff --git a/src/controller/SetUpCodePairer.cpp b/src/controller/SetUpCodePairer.cpp
index 09ee3a012a4021..d9a372f3d025be 100644
--- a/src/controller/SetUpCodePairer.cpp
+++ b/src/controller/SetUpCodePairer.cpp
@@ -224,7 +224,7 @@ bool SetUpCodePairer::ConnectToDiscoveredDevice()
         // connection attempt fails and calls right back into us to try the next
         // thing.
         SetUpCodePairerParameters params(mDiscoveredParameters.front());
-        mDiscoveredParameters.pop();
+        mDiscoveredParameters.pop_front();
 
         params.SetSetupPINCode(mSetUpPINCode);
 
@@ -272,7 +272,7 @@ void SetUpCodePairer::OnDiscoveredDeviceOverBle(BLE_CONNECTION_OBJECT connObj)
 
     mWaitingForDiscovery[kBLETransport] = false;
 
-    mDiscoveredParameters.emplace(connObj);
+    mDiscoveredParameters.emplace_front(connObj);
     ConnectToDiscoveredDevice();
 }
 
@@ -341,7 +341,12 @@ void SetUpCodePairer::NotifyCommissionableDeviceDiscovered(const Dnssd::Discover
 
     ChipLogProgress(Controller, "Discovered device to be commissioned over DNS-SD");
 
-    mDiscoveredParameters.emplace(nodeData.resolutionData);
+    auto & resolutionData = nodeData.resolutionData;
+    for (size_t i = 0; i < resolutionData.numIPs; i++)
+    {
+        mDiscoveredParameters.emplace_back(nodeData.resolutionData, i);
+    }
+
     ConnectToDiscoveredDevice();
 }
 
@@ -394,7 +399,7 @@ void SetUpCodePairer::ResetDiscoveryState()
 
     while (!mDiscoveredParameters.empty())
     {
-        mDiscoveredParameters.pop();
+        mDiscoveredParameters.pop_front();
     }
 
     mCurrentPASEParameters.ClearValue();
@@ -542,12 +547,12 @@ void SetUpCodePairer::OnDeviceDiscoveredTimeoutCallback(System::Layer * layer, v
     }
 }
 
-SetUpCodePairerParameters::SetUpCodePairerParameters(const Dnssd::CommonResolutionData & data)
+SetUpCodePairerParameters::SetUpCodePairerParameters(const Dnssd::CommonResolutionData & data, size_t index)
 {
     mInterfaceId = data.interfaceId;
     Platform::CopyString(mHostName, data.hostName);
 
-    auto & ip = data.ipAddress[0];
+    auto & ip = data.ipAddress[index];
     SetPeerAddress(Transport::PeerAddress::UDP(ip, data.port, ip.IsIPv6LinkLocal() ? data.interfaceId : Inet::InterfaceId::Null()));
 
     if (data.mrpRetryIntervalIdle.HasValue())
diff --git a/src/controller/SetUpCodePairer.h b/src/controller/SetUpCodePairer.h
index eae15065d75966..0b665a9cbbaa1b 100644
--- a/src/controller/SetUpCodePairer.h
+++ b/src/controller/SetUpCodePairer.h
@@ -41,7 +41,7 @@
 
 #include <controller/DeviceDiscoveryDelegate.h>
 
-#include <queue>
+#include <deque>
 
 namespace chip {
 namespace Controller {
@@ -51,7 +51,7 @@ class DeviceCommissioner;
 class SetUpCodePairerParameters : public RendezvousParameters
 {
 public:
-    SetUpCodePairerParameters(const Dnssd::CommonResolutionData & data);
+    SetUpCodePairerParameters(const Dnssd::CommonResolutionData & data, size_t index);
 #if CONFIG_NETWORK_LAYER_BLE
     SetUpCodePairerParameters(BLE_CONNECTION_OBJECT connObj);
 #endif // CONFIG_NETWORK_LAYER_BLE
@@ -188,10 +188,10 @@ class DLL_EXPORT SetUpCodePairer : public DevicePairingDelegate
     // process happening via the relevant transport.
     bool mWaitingForDiscovery[kTransportTypeCount] = { false };
 
-    // Queue of things we have discovered but not tried connecting to yet.  The
+    // Double ended-queue of things we have discovered but not tried connecting to yet.  The
     // general discovery/pairing process will terminate once this queue is empty
     // and all the booleans in mWaitingForDiscovery are false.
-    std::queue<SetUpCodePairerParameters> mDiscoveredParameters;
+    std::deque<SetUpCodePairerParameters> mDiscoveredParameters;
 
     // Current thing we are trying to connect to over UDP. If a PASE connection fails with
     // a CHIP_ERROR_TIMEOUT, the discovered parameters will be used to ask the