1. Upgrade the WLC's to the latest TAC recommended IOS-XE code. (17.3.5b)
2. Disable MAC Randomization on the phones.
3. Disable FT completely in WLAN and try to connect.
4. Do an OTA capture and also PCAP in WLC if AP in local mode or Flex central switching or in the Ap connecting switch if flex local switching. Investigate further using the pcaps.
5. If the problem still exist open a TAC case for further investigation. If the time permits you can explore the 17.3.X release notes to see whether you are hitting any bugs