I have been having this issue, with an Intel AX200 bluetooth adapter. I
got bluetooth disconnected temporarily when 2 devices were connected at
the same time, an audio device and a logitech mouse.

Just tried updating the firmware as @albatorsk recommended and the issue is 
fixed. Thank you!
Hopefully this comes as a regular update soon.

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https://bugs.launchpad.net/bugs/1929326

Title:
  Bluetooth WH-1000XM3 headphones disconnects and reconnects

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