Bluetooth Disconnect Issue: Connects then is unable to reconnect.

Prius v 2013
I'm currently having an issue where my phone (Note 4 AT&T) will connect to my car via bluetooth, after a few minutes the connection will be lost and the Car will attempt to reconnect but fail.

Going into the bluetooth menus after this issue occurs results in:
The buttons on the touchscreen menu becoming unresponsive (a hear a beep and the menu reacts like I pressed the button)
The on/off status of the bluetooth will be set to "off" and can't be turned on, the rest of the menu test is not greyed out (like it would be normally when the bluetooth is set to "off").

Turning off the car and letting the system reboot will let the phone connect again but results in the same issue. The phone disconnects and is unable to reconnect.

Edit: Added car details