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iPhone cannot connect to bluetooth, very annoying

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2022 LR refresh. My iPhone 14 PM (not set as primary) is being used as car key and never had any issue for that purpose, but most of the time when I drive alone (daughter's iPhone was set to primary) the iPhone cannot be connected to play sound. Now matter how I try to connect from both side.

I have to remove each other from bluethooh device list and pair again while driving when I really need and I know it is dangerous. Sometimes it would connect but not recently. Any suggestion for this annoying issue? iOS is latest 17.3. This issue has being bothering me for a long while and it is getting worse that I don't remember when was it able to connect by itself.