Flavio,
I will try to respond to various pieces. The capture you provided ("UaClient Connection to Server") shows a FindServers followed by a GetEndpoints. Maybe it does not matter that you do this, but if you look into the FindServers response you'll see 2 entries, one for the LDS, and another for "FANUCOPCServer@PWBsrv019", which has a Discovery URL of "opc.tcp://PWBsrv019:59611".
For you, calling GetEndpoints directly against "opc.tcp://
192.168.22.19:59611" is probably easiest. You may need to update the URL you get in the endpoints to replace the hostname once you get the results.
> Now I've tried to connect to this endpoint and I get another error from Milo: Nonce Invalid. I've attached you the error message. Maybe this helps somehow...
This happens when connecting without security, but with a password, and the server is vulnerable to CVE-2019-19135. In other words it's not safe to connect to this server using a password but no security because of a bug in the server.
I see as I'm typing this you've managed to get it working, so that's good.