[    2.574742] Bluetooth: hci0: rtl: loading rtl_bt/rtl8821a_config.bin
[    2.575137] bluetooth hci0: firmware: failed to load 
rtl_bt/rtl8821a_config.bin (-2)
[    2.575143] bluetooth hci0: Direct firmware load for 
rtl_bt/rtl8821a_config.bin failed with error -2
[    2.575145] Bluetooth: hci0: Failed to load rtl_bt/rtl8821a_config.bin

copying rtl8723a_config.bin from https://github.com/lwfinger/rtl8723au_bt/ to  
/lib/firmware/rtl_bt/ does NOT solve the issue. You are actually pointing to a 
config file for a completly different device.

We are using the rtl8821a this config file is for the rtl8723au_bt...

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