I also had this issue, which first manifested by bluetoothd being
completely unresponsive and being unkillable, even with SIGKILL. The
whole system would lag at regular intervals.

After a hot reboot (no power cycle), the lag went away but it was
impossible to activate bluetooth and dmesg showed the same messages as
above:

Bluetooth: hci0: command 0xfc05 tx timeout
Bluetooth: hci0: Reading Intel version information failed

Finally after a cold power off and then back on, everything started
working again. So it would seem that there is actually some hardware bug
here, because the issue persists across reboots if the bluetooth chip is
not power cycled.

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You received this bug notification because you are a member of Kernel
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:
  Invalid

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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