Galaxy S10 Series: Bluetooth connectivity issue with car audio.
Samsung is aware of this symptom which may appear on limited BMW vehicles and it occurs when you try to pair Bluetooth firstly in Galaxy S10+/S10/S10e side. For proper Bluetooth paring without problem, BMW Mini needs to search your phone first.
Even though it is not working well, please Reset network settings by following the given steps and try again : Settings > General management > Reset > Reset network settings.
Pictorial representation of given steps are shown below :