I tested the following mainline kernels:

Linux xxx 5.3.18-050318-generic #201912181133 SMP Wed Dec 18 16:36:09 UTC 2019 
x86_64 x86_64 x86_64 GNU/Linux
root@xxx:~# hcitool lescan
Set scan parameters failed: Input/output error

root@xxx:~# uname -a
Linux xxx 4.15.18-041518-generic #201804190330 SMP Thu Apr 19 07:34:21 UTC 2018 
x86_64 x86_64 x86_64 GNU/Linux
root@xxx:~# hcitool lescan
Set scan parameters failed: Input/output error

5.3. since it is Ubuntu 19.10's kernel; 4.15 since it is Ubuntu 18.04's kernel.
With both of them it didn't work. Thats strange since hcitool lescan did work 
on the same machine with Ubuntu 18.04 and the 4.15 kernel.

On another machine with Ubuntu 18.04 hcitool lescan works:
uname -a
Linux xxx 4.15.0-88-generic #88-Ubuntu SMP Tue Feb 11 20:11:34 UTC 2020 x86_64 
x86_64 x86_64 GNU/Linux
root@xxx:~# hcitool lescan
LE Scan ...
6E:82:1E:5F:xx:xx (unknown)
...

So I think it is not kernel related ...

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https://bugs.launchpad.net/bugs/1870837

Title:
  hcitool lescan says 'Set scan parameters failed: Input/output error'

Status in bluez package in Ubuntu:
  New
Status in linux package in Ubuntu:
  Incomplete

Bug description:
  Hi,

  after some testing with Ubuntu 20.04 beta I couldn't get hcitool
  lescan working. I get the following error:

  hcitool lescan
  Set scan parameters failed: Input/output error

  Bluetooth hardware: 
  hci0:   Type: Primary  Bus: USB
          BD Address: 04:EA:56:21:xx:xx  ACL MTU: 1021:4  SCO MTU: 96:6
          UP RUNNING
          RX bytes:1605 acl:0 sco:0 events:123 errors:0
          TX bytes:5801 acl:0 sco:0 commands:123 errors:0
          Features: 0xbf 0xfe 0x0f 0xfe 0xdb 0xff 0x7b 0x87
          Packet type: DM1 DM3 DM5 DH1 DH3 DH5 HV1 HV2 HV3
          Link policy: RSWITCH SNIFF
          Link mode: SLAVE ACCEPT
          Name: 'xx'
          Class: 0x200104
          Service Classes: Audio
          Device Class: Computer, Desktop workstation
          HCI Version: 5.1 (0xa)  Revision: 0x100
          LMP Version: 5.1 (0xa)  Subversion: 0x100
          Manufacturer: Intel Corp. (2)

  It is not hardware related, since I get the same error with a USB
  bluetooth dongle:

  hcitool -i hci1 lescan
  Set scan parameters failed: Input/output error

  hcitool scan is working fine on both devices; bluetoothctl is also working 
and able to find ble devices.
  I would normally prefer bluetoothctl, but I got a software which is based on 
hcitool.

  dmesg shows this errors:
  [  138.152718] debugfs: File 'le_min_key_size' in directory 'hci0' already 
present!
  [  138.152722] debugfs: File 'le_max_key_size' in directory 'hci0' already 
present!

  Bluez version:
  bluez 5.53-0ubuntu2 amd64

  System:
  Distributor ID: Ubuntu
  Description:    Ubuntu Focal Fossa (development branch)
  Release:        20.04
  Codename:       focal
  --- 
  ProblemType: Bug
  ApportVersion: 2.20.11-0ubuntu22
  Architecture: amd64
  DistroRelease: Ubuntu 20.04
  InstallationDate: Installed on 2020-04-01 (4 days ago)
  InstallationMedia: Ubuntu-Server 20.04 LTS "Focal Fossa" - Beta amd64 
(20200331)
  InterestingModules: rfcomm bnep btusb bluetooth
  Lsusb:
   Bus 002 Device 001: ID 1d6b:0003 Linux Foundation 3.0 root hub
   Bus 001 Device 003: ID 0463:ffff MGE UPS Systems UPS
   Bus 001 Device 002: ID 0658:0200 Sigma Designs, Inc. Aeotec Z-Stick Gen5 
(ZW090) - UZB
   Bus 001 Device 004: ID 8087:0aaa Intel Corp. 
   Bus 001 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub
  MachineType: Intel(R) Client Systems NUC8i3BEH
  Package: linux
  PackageArchitecture: amd64
  ProcKernelCmdLine: BOOT_IMAGE=/vmlinuz-5.4.0-21-generic 
root=/dev/mapper/vgcs2ubct-root ro
  ProcVersionSignature: Ubuntu 5.4.0-21.25-generic 5.4.27
  Tags:  focal
  Uname: Linux 5.4.0-21-generic x86_64
  UpgradeStatus: No upgrade log present (probably fresh install)
  UserGroups:
   
  _MarkForUpload: True
  dmi.bios.date: 10/23/2019
  dmi.bios.vendor: Intel Corp.
  dmi.bios.version: BECFL357.86A.0075.2019.1023.1448
  dmi.board.name: NUC8BEB
  dmi.board.vendor: Intel Corporation
  dmi.board.version: J72693-306
  dmi.chassis.type: 35
  dmi.chassis.vendor: Intel Corporation
  dmi.chassis.version: 2.0
  dmi.modalias: 
dmi:bvnIntelCorp.:bvrBECFL357.86A.0075.2019.1023.1448:bd10/23/2019:svnIntel(R)ClientSystems:pnNUC8i3BEH:pvrJ72753-305:rvnIntelCorporation:rnNUC8BEB:rvrJ72693-306:cvnIntelCorporation:ct35:cvr2.0:
  dmi.product.family: Intel NUC
  dmi.product.name: NUC8i3BEH
  dmi.product.sku: BOXNUC8i3BEH
  dmi.product.version: J72753-305
  dmi.sys.vendor: Intel(R) Client Systems
  hciconfig:
   hci0:        Type: Primary  Bus: USB
        BD Address: 04:EA:56:21:1E:D3  ACL MTU: 1021:4  SCO MTU: 96:6
        UP RUNNING 
        RX bytes:17030 acl:0 sco:0 events:2764 errors:0
        TX bytes:677849 acl:0 sco:0 commands:2757 errors:0

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