The bluetooth firmware load (hci0) below from a working device on a 4.19 kernel 
is missing from the
above posted dmesg output (firmware versions identical).  There are new 
firmware versions in 20.04, so that may be contributing cause to the loading 
problem.
    7.768840] RTL8723BS: rtl8723bs v4.3.5.5_12290.20140916_BTCOEX20140507-4E40
[    7.768842] RTL8723BS: rtl8723bs BT-Coex version = BTCOEX20140507-4E40
[    7.933032] Bluetooth: hci0: RTL: rtl: examining hci_ver=06 hci_rev=000b 
lmp_ver=06 lmp_subver=8723
[    7.941386] Bluetooth: hci0: RTL: rtl: loading rtl_bt/rtl8723bs_fw.bin
[    7.959733] bluetooth hci0: firmware: direct-loading firmware 
rtl_bt/rtl8723bs_fw.bin
[    7.959786] Bluetooth: hci0: RTL: rtl: loading 
rtl_bt/rtl8723bs_config-OBDA8723.bin
[    7.960749] bluetooth hci0: firmware: direct-loading firmware 
rtl_bt/rtl8723bs_config-OBDA8723.bin
[    7.965838] RTL8723BS: rtw_ndev_init(wlan0)
[    7.967175] RTL8723BS: module init ret =0
[    9.685612] rtl8723bs: acquire FW from file:rtlwifi/rtl8723bs_nic.bin

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https://bugs.launchpad.net/bugs/1877192

Title:
  RTL8723bs bluetooth not working on 20.04

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