I used to get the following error after each reboot. That started
happening after the most recent Ubuntu 20.04 update.

Bluetooth: hci0: command 0xfc05 tx timeout
Bluetooth: hci0: Reading Intel version command failed (-110)

I verified that the following workaround works for me. Thankfully, it
does not involve pulling out the power plug.

First verify that your device is reported as DOWN.

~ $ hciconfig
hci0:   Type: Primary  Bus: USB
        BD Address: 00:00:00:00:00:00  ACL MTU: 0:0  SCO MTU: 0:0
        DOWN
        RX bytes:0 acl:0 sco:0 events:0 errors:0
        TX bytes:4 acl:0 sco:0 commands:1 errors:0

If so, run the following command:

~ $ sudo hciconfig -a hci0 up

and then reboot normally. I was able to use Bluetooth normally after
that step.

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Packages, which is subscribed to linux in Ubuntu.
https://bugs.launchpad.net/bugs/1859592

Title:
  Bluetooth unavailable after updates - Reading Intel version
  information failed (-110)

Status in linux package in Ubuntu:
  Confirmed

Bug description:
  After 10 days of uptime with automatic updates, I rebooted. Bluetooth,
  which I use every day, is no longer available.

  $ dmesg | grep -i bluetooth
  [    4.846072] Bluetooth: Core ver 2.22
  [    4.846088] Bluetooth: HCI device and connection manager initialized
  [    4.846092] Bluetooth: HCI socket layer initialized
  [    4.846094] Bluetooth: L2CAP socket layer initialized
  [    4.846096] Bluetooth: SCO socket layer initialized
  [    5.434081] Bluetooth: BNEP (Ethernet Emulation) ver 1.3
  [    5.434082] Bluetooth: BNEP filters: protocol multicast
  [    5.434086] Bluetooth: BNEP socket layer initialized
  [    6.874125] Bluetooth: hci0: command 0xfc05 tx timeout
  [    6.874129] Bluetooth: hci0: Reading Intel version information failed 
(-110)

  $ uname -a
  Linux abu 5.3.2-050302-generic #201910010731 SMP Tue Oct 1 07:33:48 UTC 2019 
x86_64 x86_64 x86_64 GNU/Linux

  AMD Ryzen 5 3400G (Picasso, Raven Ridge) (Asrock A300) Ubuntu 18.04
  LTS.

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