I may have found a fix for the S21 bluetooth issues. Go into Android Auto settings and turn off wireless sync. It's been working fine now for over a day.
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I'm also having the same problem with my Jabra Evolve 75 bluetooth headset. It only happens with phone calls where the audio is so choppy it's unusable. But music is totally fine. The only fix is to turn off bluetooth and the headset then turn it back on. Then it will work fine for a while but the audio is still lower quality that it used to be on my S10+. I've tried flushing the phones cache, clearing the bluetooth cache, removing all devices, removing android wear and my watch 3 but nothing helps. I just tried turning off android auto wireless sync (I don't use it anyway). Maybe that will help.
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