This seems to be mostly solved in Ubuntu 21.10 (compared to 21.04.
linux-firmware 1.201.3) for me now.

I do regularly (multiple times in a minute) get a hiccup which lasts a fraction 
of a second where there's no sound output. Not an issue for videocalls (other 
microphone than through the bluethooth headset to keep A2DP sink opposed to the 
crappy HFP).
That hiccup isn't ideal when listening to music though.

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https://bugs.launchpad.net/bugs/1933771

Title:
  Bluetooth headset random disconnects AX200

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