Coming here from
https://bugs.launchpad.net/ubuntu/+source/bluez/+bug/2084337

I installed bluez 5.78 packages and kinda resolved it... I did some
reboots (both Ubuntu and the Headset) and don't have to trigger pair
mode in the headset anymore.

However, it looks like the first connecting attempt fails:

Nov 14 10:26:27 setebos bluetoothd[1289]: Authentication attempt without agent
Nov 14 10:26:27 setebos bluetoothd[1289]: src/profile.c:ext_auth() Hands-Free 
Voice gateway rejected 00:1B:66:E8:F9:8F: org.bluez.Error.Rejected
Nov 14 10:26:27 setebos bluetoothd[1289]: Authentication attempt without agent
Nov 14 10:26:27 setebos bluetoothd[1289]: profiles/audio/a2dp.c:auth_cb() 
Access denied: org.bluez.Error.Rejected

And the second one succeeds... keep testing later so I can check if this
is always or sometimes.

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https://bugs.launchpad.net/bugs/2081384

Title:
  bluetooth headphones need reconnect after every reboot

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