I got the same bug.
If hciuart.service was started before /dev/serial1 is created, it fails.
Fixed by adding systemd override with "Requires" directive:

# systemctl cat hciuart
# /lib/systemd/system/hciuart.service
[Unit]
Description=Configure Bluetooth Modems connected by UART
ConditionFileNotEmpty=/proc/device-tree/soc/gpio@7e200000/bt_pins/brcm,pins
After=dev-serial1.device

[Service]
Type=forking
ExecStart=/usr/bin/btuart

[Install]
WantedBy=multi-user.target

# /etc/systemd/system/hciuart.service.d/override.conf
[Unit]
Requires=dev-serial1.device      <---- fix of this problem


----
Here's what documentation says:

After=: The units listed in this directive will be started before
starting the current unit. This does not imply a dependency relationship
and one must be established through the above directives if this is
required.

Requires=: This directive lists any units upon which this unit
essentially depends. If the current unit is activated, the units listed
here must successfully activate as well, else this unit will fail. These
units are started in parallel with the current unit by default.

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https://bugs.launchpad.net/bugs/1929791

Title:
  Bluetooth does not start if system boots from USB

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