Running Catalina on a rMB 12 early 2016.

Sometimes AirPods (2nd gen) get stuck. I've tried to killall bt daemon from terminal but that did not work; also I cannot figure out how to bootstrap com.apple.bluetoothUIServer with launchctl (maybe that will help?)

% launchctl list |grep -i blu  
-   0   com.apple.bluetoothUIServer

Also (15:35 at the time of running ps):

% sudo ps aux | grep -i blu
root             24233   0.0  0.1  4341256   7648   ??  Ss    1:25PM   0:23.19 /usr/sbin/bluetoothd
root             26058   0.0  0.1  4336844   8072   ??  Us    3:33PM   0:00.07 /usr/sbin/bluetoothaudiod <-- This one seems to restart randomly

Here's an imgur video of the issue

Rebooting the computer works but this happens quite often and would like to avoid restarting the whole computer just to fix bluetooth.

Anyone know what can I try to redo the whole bluetooth thing and reconnect my airpods? Other devices are sometimes affected, sometimes not.