I'm seeing this annoying issue with Ubuntu 20.04 running the linux-
oem-20.04b kernel (currently 5.10.0-1026-oem). The above workaround
fixes it.

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https://bugs.launchpad.net/bugs/1801642

Title:
  Bluetooth mouse sleeps after 5 seconds of inactivity, but
  btusb.enable_autosuspend=0 fixes it

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