I registered right now, cause the exact same problem happened to me last night, a little google search and here i am, lol.
Asus z-170 pro gaming, latest bios 2003
CMK16GX4M2B3200C16 2x8Gb Vengeance LPX Kit
i5-6600k @4.5Ghz
Weird thing is my system worked perfectly fine for a couple of days with XMP enabled, system was rock solid, then last night i rebooted and got the dreaded "overclock failed" message.
I tried to re-enable XMP but system didn't wanna boot at all, worked perfectly fine on auto at (2133Mhz ofc)
Today after reading through this thread i tried to manually set XMP values in bios (3200Mhz latency 16-18-36 and 1.35V, left all the rest on auto) and system boots just fine, perfectly stable so far.
BUT, if i try to obtain the exact same results by enabling XMP, BAM, overclock failed again!