You can do one of two things;

1. Wait for Ubuntu 21.10 to be released and upgrade to that version.
That will install the new firmware package automatically.

or

1. Download this file: 
https://launchpad.net/ubuntu/+source/linux-firmware/1.198/+build/21596077/+files/linux-firmware_1.198_all.deb
2a. Install it by double-clicking on it in a file manager.
or
2b. If you're comfortable using the terminal or a command shell, you can type 
in the command "sudo dpkg -i 
/path_to_download_folder/linux-firmware_1.198_all.deb" to accomplish the same 
thing.
3. You will need to completely power off your computer and power it back on 
again after the firmware package is installed. A simple reboot is not enough.

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Bugs, which is subscribed to Ubuntu.
https://bugs.launchpad.net/bugs/1929326

Title:
  Bluetooth WH-1000XM3 headphones disconnects and reconnects

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