So, the latest test was turning on the "sync" on the phones Samsung account. Its a setting that has been known to cause problems with some devices not pairing correctly with the Samsung phone. It triggered my memory in that pairing the phone (S20 FE 5G) was clunky, and not seamless, and in that there never was a "pin number" displayed.
Walked out to the car during lunch to try the new setting. Bluetooth on the phone shut off, as I wanted to make sure I was able to see any and all screen activity during this process. The screen immediately displayed the message upon starting the car. The phone was not even connected, as blue tooth was shut off. Looking at the phones on the device manager, the radio was trying to connect to the phone. The phone status screen (bottom right corner) was flickering during this time. I am guessing it was due to the system not being able to connect.
After deleting the S20 FE 5G, and re-pairing it, a pin number showed up and the pairing was much smoother. So far, no more error, but we will see on the drive home tonight.