I have identified the patch that introduced the problem. Reverting the
patch fixes it for 3.2.0-5.11. With the patch included, the problem
persists.

The patch was introduced to net/bluetooth/hci_conn.c in 3.2.0-rc3:

@@ -673,7 +673,7 @@ int hci_conn_security(struct hci_conn *conn, __u8 
sec_level, __u8 auth_type)                                                      
                             
                goto encrypt;                                                   
                                                                                
                   
                                                                                
                                                                                
                   
 auth:                                                                          
                                                                                
                   
-       if (test_bit(HCI_CONN_ENCRYPT_PEND, &conn->pend))                       
                                                                                
                   
+       if (test_and_set_bit(HCI_CONN_ENCRYPT_PEND, &conn->pend))               
                                                                                
                   
                return 0;                                                       
                                                                                
                   
                                                                                
                                                                                
                   
        if (!hci_conn_auth(conn, sec_level, auth_type))

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https://bugs.launchpad.net/bugs/899877

Title:
  Bluetooth headphones do not connect with A2DP starting from 3.2.0-2
  kernel

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