There is no solution to the problem yet. Apple usually recommends updating the firmware, but not all gadgets can afford it. For example, iPad 2, iPad, iPhone 4S, the first iPad mini and iPod touch of the fifth generation.
Devices with iOS 13.3.1 or macOS 10.15.3 stably connect to gadgets on older operating systems.
Obviously, this is a bug of new firmware, which will be corrected over time. We wait. [MacRumors]