One thing that Iv'e read should improve (some)things is editing this file,
sudo nano /etc/systemd/system/bluetooth.target.wants/bluetooth.service
look for a line like the following and make it like below.
(maybe make a backup copy of the file first if you want)
Iv'e been messing around with RPi4 bluetooth and my DS4 controllers recently and that is now part of my setup steps.