Xbox Live joining issue

This specific issue only happens with one of my friends. His gamertag is "jobetyk" and he is an Android user. (He speaks spanish). He can invite me but I can't join any of his worlds. The error message is "You must authenticate to Xbox Live" even though I am logged in. He told me that he has never had anyone his worlds. I don't know how to reproduce the issue other than you friending him and telling him to invite you.

jobetyk's device: Sony Xperia M2 Lollipop Android version: 5.1.1