So, I switched back to the original package:

$ apt policy pulseaudio-module-bluetooth 
pulseaudio-module-bluetooth:
  Installed: 1:13.99.1-1ubuntu10
  Candidate: 1:13.99.1-1ubuntu10
  Version table:
 *** 1:13.99.1-1ubuntu10 500
        500 http://pl.archive.ubuntu.com/ubuntu groovy/main amd64 Packages
        100 /var/lib/dpkg/status

Then I deleted the device from BlueZ:

$ bluetootctl

[bluetooth]# devices 
...
Device 94:DB:56:52:BC:64 WH-1000XM4

[bluetooth]# remove 94:DB:56:52:BC:64 
[DEL] Device 94:DB:56:52:BC:64 WH-1000XM4
Device has been removed

Afterwards I have removed user-wide PulseAudio configuration (actually
moved it to a different location):

mv ~/.config/pulse ~/.config/pulse.b4

And restarted the OS.

Then I had to pair the headphones anew. So I did that using
bluetoothctl:

[bluetooth]# scan on
Discovery started

[bluetooth]# devices 
...
Device 94:DB:56:52:BC:64 WH-1000XM4
...

[bluetooth]# pair 94:DB:56:52:BC:64
Attempting to pair with 94:DB:56:52:BC:64
[CHG] Device 94:DB:56:52:BC:64 Connected: yes
[WH-1000XM4]# 

And the problem was still there :( I re-did the steps above using the
Plasma applet, but same result.

Additional note: bluetoothctl by itself is not a workaround. The thing
that helps, is restarting bluetooth.service (sudo systemctl restart
bluetooth.service). I just used bluetoothctl to illustrate my actions, I
can also connect using Plasma applet (and it works exactly the same as
bluetoothctl: they both use DBus API for Bluez). I guess Gnome Control
Center also uses DBus to contact Bluez

-- 
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https://bugs.launchpad.net/bugs/1891648

Title:
  [0cf3:e301 Qualcomm Atheros]Cannot switch to A2DP profile w/o
  restarting bluetooth.service [pulseaudio: Refused to switch profile to
  a2dp_sink: Not connected]

Status in linux package in Ubuntu:
  Confirmed

Bug description:
  When connecting to any Bluetooth device, PulseAudio fails to change
  its profile to A2DP (and leaves it in HSP/HFP).

  The following is appended to /var/log/syslog when trying to change
  profile in pavucontrol:

  Aug 14 14:59:02 k-laptop pulseaudio[18882]: Refused to switch profile
  to a2dp_sink: Not connected

  I'm currently using patched pulseaudio-modules-bt from here:
  https://github.com/EHfive/pulseaudio-modules-bt. But the problem
  persists with both packages.

  The working workaround I found is:

    sudo systemctl restart bluetooth.service
    bluetoothctl

      # list device MACs
      devices

      # use a MAC from the list above
      connect <MAC>

  After doing this, it is possible to switch to A2DP profile in
  pavucontrol. But such restart is required each time device is
  connected.

  I'm using
  Kubuntu 20.10 (development branch)
  pulseaudio: 1:13.99.1-1ubuntu8
  pulseaudio-modules-bluetooth: 1:13.99.1-1ubuntu8-9git+20200812~dfeee4f
    but also reproducible with 1:13.99.1-1ubuntu8

  ProblemType: Bug
  DistroRelease: Ubuntu 20.10
  Package: pulseaudio 1:13.99.1-1ubuntu8
  ProcVersionSignature: Ubuntu 5.4.0-43.47-generic 5.4.55
  Uname: Linux 5.4.0-43-generic x86_64
  NonfreeKernelModules: nvidia_modeset nvidia
  ApportVersion: 2.20.11-0ubuntu44
  Architecture: amd64
  AudioDevicesInUse:
   USER        PID ACCESS COMMAND
   /dev/snd/controlC0:  kyrboh    19544 F.... pulseaudio
   /dev/snd/pcmC0D0c:   kyrboh    19544 F...m pulseaudio
   /dev/snd/pcmC0D0p:   kyrboh    19544 F...m pulseaudio
  CasperMD5CheckResult: skip
  CurrentDesktop: KDE
  Date: Fri Aug 14 15:06:43 2020
  InstallationDate: Installed on 2020-08-07 (6 days ago)
  InstallationMedia: Kubuntu 20.04.1 LTS "Focal Fossa" - Release amd64 
(20200731)
  SourcePackage: pulseaudio
  UpgradeStatus: Upgraded to groovy on 2020-08-10 (3 days ago)
  dmi.bios.date: 05/22/2020
  dmi.bios.vendor: Dell Inc.
  dmi.bios.version: 1.19.2
  dmi.board.name: 05FFDN
  dmi.board.vendor: Dell Inc.
  dmi.board.version: A00
  dmi.chassis.type: 10
  dmi.chassis.vendor: Dell Inc.
  dmi.modalias: 
dmi:bvnDellInc.:bvr1.19.2:bd05/22/2020:svnDellInc.:pnXPS159560:pvr:rvnDellInc.:rn05FFDN:rvrA00:cvnDellInc.:ct10:cvr:
  dmi.product.family: XPS
  dmi.product.name: XPS 15 9560
  dmi.product.sku: 07BE
  dmi.sys.vendor: Dell Inc.
  --- 
  ProblemType: Bug
  ApportVersion: 2.20.11-0ubuntu44
  Architecture: amd64
  AudioDevicesInUse:
   USER        PID ACCESS COMMAND
   /dev/snd/controlC0:  kyrboh     1062 F.... pulseaudio
   /dev/snd/pcmC0D0c:   kyrboh     1062 F...m pulseaudio
   /dev/snd/pcmC0D0p:   kyrboh     1062 F...m pulseaudio
  CasperMD5CheckResult: skip
  CurrentDesktop: KDE
  DistroRelease: Ubuntu 20.10
  InstallationDate: Installed on 2020-08-07 (12 days ago)
  InstallationMedia: Kubuntu 20.04.1 LTS "Focal Fossa" - Release amd64 
(20200731)
  MachineType: Dell Inc. XPS 15 9560
  NonfreeKernelModules: nvidia_modeset nvidia
  Package: linux (not installed)
  ProcFB: 0 i915drmfb
  ProcKernelCmdLine: BOOT_IMAGE=/boot/vmlinuz-5.4.0-43-generic 
root=UUID=9aa54552-f644-480c-acac-bd2259bcc1df ro quiet splash vt.handoff=7
  ProcVersionSignature: Ubuntu 5.4.0-43.47-generic 5.4.55
  RelatedPackageVersions:
   linux-restricted-modules-5.4.0-43-generic N/A
   linux-backports-modules-5.4.0-43-generic  N/A
   linux-firmware                            1.189
  Tags:  wayland-session groovy
  Uname: Linux 5.4.0-43-generic x86_64
  UpgradeStatus: Upgraded to groovy on 2020-08-10 (9 days ago)
  UserGroups: adm cdrom dip lpadmin lxd plugdev sambashare sudo
  _MarkForUpload: True
  dmi.bios.date: 05/22/2020
  dmi.bios.vendor: Dell Inc.
  dmi.bios.version: 1.19.2
  dmi.board.name: 05FFDN
  dmi.board.vendor: Dell Inc.
  dmi.board.version: A00
  dmi.chassis.type: 10
  dmi.chassis.vendor: Dell Inc.
  dmi.modalias: 
dmi:bvnDellInc.:bvr1.19.2:bd05/22/2020:svnDellInc.:pnXPS159560:pvr:rvnDellInc.:rn05FFDN:rvrA00:cvnDellInc.:ct10:cvr:
  dmi.product.family: XPS
  dmi.product.name: XPS 15 9560
  dmi.product.sku: 07BE
  dmi.sys.vendor: Dell Inc.
  --- 
  ProblemType: Bug
  ApportVersion: 2.20.11-0ubuntu44
  Architecture: amd64
  AudioDevicesInUse:
   USER        PID ACCESS COMMAND
   /dev/snd/controlC0:  kyrboh      984 F.... pulseaudio
   /dev/snd/pcmC0D0c:   kyrboh      984 F...m pulseaudio
   /dev/snd/pcmC0D0p:   kyrboh      984 F...m pulseaudio
  CasperMD5CheckResult: skip
  CurrentDesktop: KDE
  CurrentDmesg: Error: command ['dmesg'] failed with exit code 1: dmesg: read 
kernel buffer failed: Operation not permitted
  DistroRelease: Ubuntu 20.10
  InstallationDate: Installed on 2020-08-07 (19 days ago)
  InstallationMedia: Kubuntu 20.04.1 LTS "Focal Fossa" - Release amd64 
(20200731)
  MachineType: Dell Inc. XPS 15 9560
  NonfreeKernelModules: nvidia_modeset nvidia
  Package: linux (not installed)
  ProcFB: 0 i915drmfb
  ProcKernelCmdLine: BOOT_IMAGE=/boot/vmlinuz-5.8.0-16-generic 
root=UUID=9aa54552-f644-480c-acac-bd2259bcc1df ro quiet splash vt.handoff=7
  ProcVersionSignature: Ubuntu 5.8.0-16.17-generic 5.8.0
  RelatedPackageVersions:
   linux-restricted-modules-5.8.0-16-generic N/A
   linux-backports-modules-5.8.0-16-generic  N/A
   linux-firmware                            1.190
  Tags:  wayland-session groovy
  Uname: Linux 5.8.0-16-generic x86_64
  UpgradeStatus: Upgraded to groovy on 2020-08-10 (16 days ago)
  UserGroups: adm cdrom dip lpadmin lxd plugdev sambashare sudo
  _MarkForUpload: True
  dmi.bios.date: 05/22/2020
  dmi.bios.release: 1.19
  dmi.bios.vendor: Dell Inc.
  dmi.bios.version: 1.19.2
  dmi.board.name: 05FFDN
  dmi.board.vendor: Dell Inc.
  dmi.board.version: A00
  dmi.chassis.type: 10
  dmi.chassis.vendor: Dell Inc.
  dmi.modalias: 
dmi:bvnDellInc.:bvr1.19.2:bd05/22/2020:br1.19:svnDellInc.:pnXPS159560:pvr:rvnDellInc.:rn05FFDN:rvrA00:cvnDellInc.:ct10:cvr:
  dmi.product.family: XPS
  dmi.product.name: XPS 15 9560
  dmi.product.sku: 07BE
  dmi.sys.vendor: Dell Inc.
  --- 
  ProblemType: Bug
  ApportVersion: 2.20.11-0ubuntu44
  Architecture: amd64
  AudioDevicesInUse:
   USER        PID ACCESS COMMAND
   /dev/snd/controlC0:  kyrboh      980 F.... pulseaudio
   /dev/snd/pcmC0D0c:   kyrboh      980 F...m pulseaudio
   /dev/snd/pcmC0D0p:   kyrboh      980 F...m pulseaudio
  CasperMD5CheckResult: skip
  CurrentDesktop: KDE
  CurrentDmesg: Error: command ['dmesg'] failed with exit code 1: dmesg: read 
kernel buffer failed: Operation not permitted
  DistroRelease: Ubuntu 20.10
  InstallationDate: Installed on 2020-08-07 (19 days ago)
  InstallationMedia: Kubuntu 20.04.1 LTS "Focal Fossa" - Release amd64 
(20200731)
  MachineType: Dell Inc. XPS 15 9560
  NonfreeKernelModules: nvidia_modeset nvidia
  Package: linux (not installed)
  ProcFB: 0 i915drmfb
  ProcKernelCmdLine: BOOT_IMAGE=/boot/vmlinuz-5.8.0-16-generic 
root=UUID=9aa54552-f644-480c-acac-bd2259bcc1df ro quiet splash vt.handoff=7
  ProcVersionSignature: Ubuntu 5.8.0-16.17-generic 5.8.0
  RelatedPackageVersions:
   linux-restricted-modules-5.8.0-16-generic N/A
   linux-backports-modules-5.8.0-16-generic  N/A
   linux-firmware                            1.190
  Tags:  wayland-session groovy
  Uname: Linux 5.8.0-16-generic x86_64
  UpgradeStatus: Upgraded to groovy on 2020-08-10 (16 days ago)
  UserGroups: adm cdrom dip lpadmin lxd plugdev sambashare sudo
  _MarkForUpload: True
  dmi.bios.date: 05/22/2020
  dmi.bios.release: 1.19
  dmi.bios.vendor: Dell Inc.
  dmi.bios.version: 1.19.2
  dmi.board.name: 05FFDN
  dmi.board.vendor: Dell Inc.
  dmi.board.version: A00
  dmi.chassis.type: 10
  dmi.chassis.vendor: Dell Inc.
  dmi.modalias: 
dmi:bvnDellInc.:bvr1.19.2:bd05/22/2020:br1.19:svnDellInc.:pnXPS159560:pvr:rvnDellInc.:rn05FFDN:rvrA00:cvnDellInc.:ct10:cvr:
  dmi.product.family: XPS
  dmi.product.name: XPS 15 9560
  dmi.product.sku: 07BE
  dmi.sys.vendor: Dell Inc.

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