@Daniel could you try out the bluez package from the following PPA:
https://launchpad.net/~waveform/+archive/ubuntu/pi-bluetooth/+packages ?

Should be as simple as doing:

  sudo add-apt-repository ppa:waveform/pi-bluetooth
  sudo apt update
  sudo apt upgrade

The version in that PPA contains the pi foundation's patches to bluez
which were necessary to enable bluetooth on the pi400 (LP: #1903048),
but they also alter some of the general initialization of the bluetooth
module on all pis (amongst other things). A (slightly tidied up) variant
of this is currently intended for hirsute, to be SRU'd to groovy and
focal, so I'd be interested to hear if it also fixes this issue.

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https://bugs.launchpad.net/bugs/1901272

Title:
  Can't connect Bluetooth devices after reboot - Ubuntu 20.10 on
  Raspberry Pi 4

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