Deleting all plugins in "/Library/Audio/Plug-ins/HAL/" and restarting fixed this issue.
jrmcmichael
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I am also having this issue. macOS Big Sur Version 11.0.1, neither do my Airpod Pros or Sony **-CH710N headphones connect for longer than 5 seconds. Deleting "/Library/Audio/Plug-Ins/HAL/InstantOn.driver" fix not doable, as this driver (or the HAL folder) are not located in this location.