After some search, I found the following solution:
1) Go to Settings, select Developer options, Bluetooth PBAP, Bluetooth PBAP version (or just search for pbab in the settings menu and select "Bluetooth PBAP version")
2) Change the Buetooth PBAP version from PBAP 1.2 to PBAP 1.1 and then click apply
3) Change the Buetooth PBAP version from PBAP 1.1 back to PBAP 1.2 and then click apply
It *should* work without need to repair or anything else. YMMV
Successfully tested with Samsung S21 and 2018 BMW 330e