I have had this issue on and off, as well as with my Garmin Enduro 2. It is tied to using multiple apps on the phone that play audio - such as using podcasting and music apps on the phone. I have been able to get it to work by rebooting, or closing all apps that play audio except one. I haven’t done this in a while, but it’s worth a try.
I use an iteration of the google pixel.