I'm lucky to not have had that experience for initial pairing. I was recently gifted the beats headphones and they've never had an issue like that, though I do have to re-pair with every device which is my main annoyance.
I stopped using a BT trackpad because I would get disconnected randomly though, so maybe it comes down to the devices?
Also not the first time we've had a chat in HN comments. How's the robot boxing chess league? ;)