How to start bluetooth device discovery using companion device pairing?

Question

I am trying to build a sub-module for an app which requires to identify the nearby bluetooth devices and display the discovered devices to the users. I came to know that in order to use the traditional bluetooth adapter and perform a device discovery, it also needs some location permissions and this permissioning is not supported in higher API levels. So, I switched to companion device pairing API and have set up the code to identify nearby bluetooth devices using this guide. But I am not able to figure out how to start device discovery. I am looking for some help on how to start device discovery using the companion device sharing API