@Daniel could you try out the bluez package from the following PPA:
https://launchpad.net/~waveform/+archive/ubuntu/pi-bluetooth/+packages ?

Should be as simple as doing:

  sudo add-apt-repository ppa:waveform/pi-bluetooth
  sudo apt update
  sudo apt upgrade

The version in that PPA contains the pi foundation's patches to bluez
which were necessary to enable bluetooth on the pi400 (LP: #1903048),
but they also alter some of the general initialization of the bluetooth
module on all pis (amongst other things). A (slightly tidied up) variant
of this is currently intended for hirsute, to be SRU'd to groovy and
focal, so I'd be interested to hear if it also fixes this issue.

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https://bugs.launchpad.net/bugs/1901272

Title:
  Can't connect Bluetooth devices after reboot - Ubuntu 20.10 on
  Raspberry Pi 4

Status in bluez package in Ubuntu:
  Incomplete
Status in linux-raspi package in Ubuntu:
  Incomplete
Status in pi-bluetooth package in Ubuntu:
  Confirmed
Status in bluez source package in Groovy:
  Incomplete
Status in linux-raspi source package in Groovy:
  Incomplete
Status in pi-bluetooth source package in Groovy:
  New

Bug description:
  Raspberry pi 4 4Gb ram
  Ubuntu desktop 20.10 64 bit
  After reboot no Bluetooth devices connect, scanning Bluetooth devices works, 
results with same device name (duplicated and with not set up status).
  Sometimes after several reboots it works.
  If I use power off and cycle power then it works fine each time.

To manage notifications about this bug go to:
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