I believe this most likely is a race, when two paired devices try to
reestablish the connection at the same time:

When entering the car, but the HMI and the phone indicate they try connecting 
and it usually fails.
Still after some minutes it happens, that only one side tries to initiate the 
connection (didn't check who actually does, car or phone) and then the 
connection usually gets established.

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https://bugs.launchpad.net/bugs/1435040

Title:
  Ubuntu Phone (BQ E4.5) does not connect to car-bluetooth

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