In trying to find a solution I peeked around the internet and found several fairly intricate suggestions.
I had issues with pairing with 3 out of 4 of my attempts. For my Tesla Model X, my AquaAudio speaker and my work Jabro PRO 9465 headset the symptoms varied from both platforms seeing each other (Tesla) to the device not even showing up on the Bluetooth scan screen on the Galaxy.
In all cases, just a straight restart the phone is all it took to resolve the issue. Don’t go into the weeds.
As they say on “The IT Crowd”: Did you try turning it off and on again?