Strange Bluetooth Issue

Recently, my 2013 Prius started having bluetooth issues connecting to my iPhone (both my XS and my new 11 Pro as well as my iPad so I definitely think it's the car and not the devices as they still connect to everything else just fine).

It used to be that I would start my car, after a bit (10-20 seconds maybe) it would find my phone and start playing whatever I was last listening to.

Now I start the car:
It searches for bluetooth (since that was the mode it was in when I turned it off),
Eventually times out and goes to "audio off"
I turn audio back on and now it's on radio
I select bluetooth as the source
Usually nothing will ever happen after that.

The one way I've found that seems to always work to fix this is:
After it has "timed out" and turned the audio off, turn it back on and go into Bluetooth setup
Turn the Bluetooth off and then back on
From my phone, tell it to connect to the Prius Bluetooth
Select bluetooth as the audio source on the Prius.

This now seems to be happening 95% of the time I turn the car off and back on. Needless to say it's a huge pain and if I want audio from my phone I now have to spend several minutes messing around before Is tart driving.

Any ideas if it's possible to fix this? I couldn't find any updates for my head unit at securedp.toyota.com.
I tried a trick I read elsewhere about turning it on, holding setup, turning the headlights on/off 3x, which brings up a diagnostic menu, pressing "INIT," then holding setup to exit the menu and turning the car off and back on. No luck there.

All I do is listen to podcasts and other audio from my phone so this is a pretty big deal to me. Any insight is appreciated!

 

I’ve deleted and re-paired many times. I did wonder if it was iOS 13 related but I've had no other issues connecting to any other device and also had the same issues with the Prius using my iPad which wasn't on 13 yet.

For now I just ordered a Bluetooth receiver that plugs into the aux port and the USB port for power. Frustrating.

 

iOS 13.2 update tonight "Fixed an issue with Bluetooth disconnecting in some vehicles." Preliminary testing seems like that was it. I didn't think it was iOS because it was only my car and no other devices, and what's even weirder is I had also tried my iPad which was not yet running 13, but hopefully this is the end of the issue!

 

Well damn. Issue persists. I thought the update had fixed it but no luck.