This seems to be mostly solved in Ubuntu 21.10 (compared to 21.04.
linux-firmware 1.201.3) for me now.

I do regularly (multiple times in a minute) get a hiccup which lasts a fraction 
of a second where there's no sound output. Not an issue for videocalls (other 
microphone than through the bluethooth headset to keep A2DP sink opposed to the 
crappy HFP).
That hiccup isn't ideal when listening to music though.

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https://bugs.launchpad.net/bugs/1933771

Title:
  Bluetooth headset random disconnects AX200

Status in linux-firmware package in Ubuntu:
  Invalid
Status in linux-firmware source package in Hirsute:
  In Progress

Bug description:
  [Impact]

  Using several different bluetooth headsets I find that the Bluetooth
  functionality of the built-in AX200 module of my motherboard keeps
  randomly disconnecting. I found that this has been fixed in recent
  Linux firmware updates, but I am not sure that fix has landed yet in
  Ubuntu Hirsute.

  Herewith I am posting the link to exactly the issue I am having:
  https://gitlab.freedesktop.org/pulseaudio/pulseaudio/-/issues/1155

  And the Linux Firmware commit that resolves this:
  
https://git.kernel.org/pub/scm/linux/kernel/git/firmware/linux-firmware.git/commit/?id=73144e02dcff54529ab42d951de682740d204180

  A related Fedora bug:
  https://bodhi.fedoraproject.org/updates/FEDORA-2021-93247f3274

  It's difficult to relate the upstream kernel version firmware version
  in which this was fixed (linux-firmware-20210511) to the version of
  the linux-firmware Ubuntu package (for me). Perhaps someone can
  comment on whether this has been merged in. I am still experiencing
  disconnects with 1.197.1 at least.

  --

  Description:  Ubuntu 21.04
  Release:      21.04

  linux-firmware:
    Installed: 1.197.1
    Candidate: 1.197.1

  I expected:
    Bluetooth headset to remain connected

  What happened:
    Bluetooth headset connects, then randomly disconnects and reconnects while 
playing media

  [Test Case]

  See above.

  [Fix]

  Update AX20x firmware blobs.

  [Where Problems Could Occur]

  New firmware blobs so previously working adapter might now fail.

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