I confirm that upgrade with proposed enabled on Eoan fixed the bug for me.
I've tested it using two bluetooth audio devices: Sony WH-1000XM3 and 
Plantronics Marque M155.
Thanks to everyone involved!

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Touch seeded packages, which is subscribed to bluez in Ubuntu.
https://bugs.launchpad.net/bugs/1845046

Title:
  Bluetooth headphones default to low quality headset mode and fail to
  switch to A2DP when selected

Status in bluez package in Ubuntu:
  Fix Released
Status in bluez source package in Bionic:
  Fix Committed
Status in bluez source package in Eoan:
  Fix Committed
Status in bluez source package in Focal:
  Fix Released

Bug description:
  [Impact]

  Whenever I turn on my headphones they'll connect to my computer but
  I'm able to hear the input audio from my microphone and low quality
  output audio. I have to disconnect the headphones in the bluetooth
  devices and reconnect for it to fix the problem.

  [Test Case]

  0. Set up your Bluetooth headphones with Ubuntu.
  1. Turn off the headphones.
  2. Turn on the headphones.
  3. In Settings>Sound verify they have reconnected in A2DP mode (stereo, high 
quality, no microphone support).

  [Regression Potential]

  Low. Only the headset code path is affected and the fix has already
  been released for some time in BlueZ 5.51 onward.

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