I can pait it via zwift companion. But in the zwift app I am not able to click the tick box to select the zwift controller
Thanks for clarifying. Please check Paul’s point above about verifying what firmware version your Kickr is running.
You have a Wahoo Kickr V5 (2020 model) which does not support Zwift’s virtual shifting feature. That’s why the controls will not pair, because Wahoo have not provided a firmware update to enable the feature.
If you search the forum for topics related to this (eg, search for “kickr v5 virtual shifting”) you may find some useful information.