3GPP 23.501 v20.2.0 — the document's own text
5.3.3.3.2 NAS signalling connection establishment
Taught in 9. Registration, reachability and paging (The 5G system architecture, in depth), 4. Knowing who you are and where you are (The 5G system architecture, overview).
NAS signalling connection establishment function is provided by the UE and the AMF to establish a NAS signalling connection for a UE in CM-IDLE state. The AMF shall provide the list of recommended cells/ TAs / NG-RAN node identifiers for paging, if the NG-RAN had provided that information in an earlier AN Release Procedure in the AN (see clause 4.2.6 of TS 23.502 [3]).
When the UE in CM-IDLE state needs to transmit an NAS message, the UE shall initiate a Service Request, a Registration or a Deregistration procedure to establish a NAS signalling connection to the AMF as specified in clauses 4.2.2 and 4.2.3 of TS 23.502 [3]. If the NAS signalling connection is to be established via an NG-RAN node, but the AMF detects that this UE has already established a NAS signalling connection via old NG-RAN node, the AMF shall release the old established NAS signalling connection by triggering AN Release Procedure.
Based on UE preferences, UE subscription, Mobility Pattern and network configuration, the AMF may keep the NAS signalling connection until the UE de-registers from the network.