First of all, this bug is so unpredictable, it's hard to replicate "on demand". 
It was happening when I power off device and back on and after restart it 
works, so it's not only what I said in description.
@Dave yes I installed your ppa and after that no device associated before were 
present in gnome Bluetooth setting. Pairing again first was failing but after 
some retries and a restart it's ok. Now I wait to see if bug is coming back but 
another annoying thing happened.
Two devices I use, one is Mi Silent Mouse and another is Microsoft Bluetooth 
Keyboard. Now after ppa the keyboard disconnect after only few seconds and it 
has very hard time connecting back when I press any key. With old blues it 
disconnect after many minutes, so it was tolerable.
After all both devices are by 4.0 LE and should not disconnect or should 
connect instantly with buffered keys pressed.

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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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