I have spent quite a bit of time over the past few weeks testing different Android versions, testing Bluetooth Keepalive, speaking to other developers, logging errors and debugging, installing different versions of Cyanogenmod, and speaking to Samsung.
In short here is what I have found:
1. The problem still exists in the stock rom that is downloaded from Kies with Android version 4.1.2.
2. Problem was still encountered, and potentially worse, on Cyanogenmod 10.1 with Android 4.2. (Problem happened more frequently)
3. Still testing with Cyanogenmod 10.2 with Android 4.3, and so far I have NOT had any issue.
4. I have had mixed results with Bluetooth Keepalive, but have been in contact with the developer.
I spoke with Samsung yesterday as well as last month. I requested a call from a developer, but they would not allow. They said they would connect me to the next level of support, but I would have to wait on hold for an hour. Oddly enough, I did not want to or have time to wait an hour. However, over the coming days I am going to contact Samsung using a more direct method in hopes of speaking to a developer. The tech guy I talked to seemed to indicate that it was his position that it was a 3rd party issue, and I should contact my auto manufacturer. I explained to him that this problem happens across multiple auto manufacturers, and the one common theme is the Galaxy phone. In addition, my auto manufacturer has replaced everything Bluetooth related, and has had no issue testing with other phone models. The Samsung rep also said, and I agree, that sending the phone into Samsung for repair would be worthless.
Short of rooting your phone and installing CM 10.2 with Android 4.3 the problem still exists. Again, I am still testing with CM 10.2, and look forward to speaking with Samsung again.