peter This happens to me too. I had no issues for a long time, and I started getting this recently, as soon as I got an iPad Pro, so it might be related to this. I never had this problem with iPad Air 2, for example.
Or, it could be related to iOS 17, since I think I started getting these errors as soon as I updated the slave device. Now I have two iPad Pro 10.5, both on iOS 17.5.1, and it disconnects every few minutes. It’s really frustrating 🙁