This is surprising. It sounds like reconnecting is disabled by default
unless you specify exactly which devices to reconnect in
/etc/bluetooth/main.conf:

# The ReconnectUUIDs defines the set of remote services that should try
# to be reconnected to in case of a link loss (link supervision
# timeout). The policy plugin should contain a sane set of values by
# default, but this list can be overridden here. By setting the list to
# empty the reconnection feature gets disabled.
#ReconnectUUIDs=00001112-0000-1000-8000-00805f9b34fb, 
0000111f-0000-1000-8000-00805f9b34fb, 0000110a-0000-1000-8000-00805f9b34fb

So maybe try editing /etc/bluetooth/main.conf and change:

  #ReconnectUUIDs=00001112-0000-1000-8000-00805f9b34fb,
0000111f-0000-1000-8000-00805f9b34fb,
0000110a-0000-1000-8000-00805f9b34fb

to:

  ReconnectUUIDs=00001124-0000-1000-8000-00805f9b34fb,
00001812-0000-1000-8000-00805f9b34fb

in an attempt to auto-reconnect your Human Interface Devices.

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https://bugs.launchpad.net/bugs/1787571

Title:
  Bluetooth keyboard won't connect again after connection was lost

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