Is this happening to all of your TC72s or is this isolated to a single device? When you set a pin code or lock screen password manually you are prompted to also enable secure boot that can require the pin when a device is first booted up. I would venture to guess that this device was manually configured with a pin code at some point and that setting was accidentally left on. Either that or the authentication password that you configure for the kiosk mode may actually get initialized as that password. 

This happened to multiple devices, but I think I know what the issue is now. I selected an update for the wrong BSP version by accident and applied that update. We did try the SOTI admin as this would have been the only password ever set on the device. When staging we use the StageNow barcodes to download the agent and enroll the device so no passcode is ever setup. Since this did not work, and it is the wrong BSP, it looks like I will just need to do an enterprise reset.