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Here is the result of my search from some one who found a solution:
"I installed Bluetooth Auto Connect from the Play Store. In the app settings - Events I checked "Auto connect every time Bluetooth has been turned on." This seems to cleared the issue I was having with Bluetooth connecting to my 2013 Hyundai Sonata. App doesn't seem to have any effect on battery."
- The other app in Playstore is A2DP. Please check similar apps for Iphones.
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