Starting in at least version 5.1 per a comment I found on a blogspot post linked below, Mitel restricts SIP registration on 6900 series phones (6920, 6930, 6940, etc) to only Mitel software/hardware, for instance, a 3300 PBX. So if you try to register a 6900 series phone to a non-mitel SBC (like Anynode in my case), it will instantly unregister itself and provide no information as to why. Fortunately, if you have a means of spoofing the user-agent header in the SIP messages sent by the SBC, you can make them work. Anynode has the ability to do this, so I set it to spoof the user agent to "Mitel-3300-ICP" and my 6940 and 6920 instantly came up and no longer had the instant unregistration problem. The 6940 is running a 6.0 software revision, and the 6920 is running a 5.1 software revision.
Just another case of unnecessary vendor locking. Hope this helps someone!
http://randomcontributions.blogspot.com/2019/02/mitel-6940-handsets-on-asterisk.html