Bluetooth unreliable - can't reconnect

I have the unlocked Moto G3 (2015), and I have consistently had unreliable Bluetooth connections. It affects bluetooth headphones and always connected devices like a smartwatch and fitness tracker.
Currently I am on CM13, but stock had similar trouble. The Bluetooth device will connect and work for a while and then spontaneously disconnect as some point, and be unable to reconnect. The solution is a full reboot.
Has anyone else had trouble with this?

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