There are two version for adb: the SDK platform tools version and the ADB version.
For my debian bullseye:
~ $ adb version
Android Debug Bridge version 1.0.41
Version 28.0.2-debian
The second one should be the sdk version.
In google's SDK release note, the wifi pairing feature is published in v30.0.0.
Debian's adb is in sdk version 28, so it does not support wireless pair.
platform tools binary from google
However, I do not know that what does the adb's own version meaning, but it seem to be stand alone with sdk version.
I download the google's platform tools binary, and it show a different sdk version but a same adb version:
~/Downloads/platform-tools $ ./adb version
Android Debug Bridge version 1.0.41
Version 34.0.1-9680074
Therefore, it need a newer sdk version to use the pair command.