Same problem using Aeropex by AfterShokz (AVRCP) headset on 20.04
(xps9310).

Quick-and-dirty workaround:
- download the 1.190 firmware package 
(http://mirrors.edge.kernel.org/ubuntu/pool/main/l/linux-firmware/linux-firmware_1.190.tar.gz)
- copy the relevant ibt firmware and parameters (sfi, ddc) to 
/usr/lib/firmware/intel (ibt-19-0-4 in my case) - backup of the old files 
highly recommended ;)
- reboot, reconnect.

My headset is now working both in A2DP and HFP/HSP modes.

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https://bugs.launchpad.net/bugs/1871794

Title:
  [Bluetooth] No audio output/input in HSP/HFP mode

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