Solves the problem for me (ppa:ubuntu-audio-dev/pulse-testing).

I can't comment on the reliability, since I've tested the procedure only
a few times, but I don't need anymore to perform the
disconnection/reconnection dance.

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https://bugs.launchpad.net/bugs/1582213

Title:
  [xenial] Bluetooth device doesn't play any sound in A2DP mode unless
  set to HSP/HFP first

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