A while ago, I started up the Robot Inventor program and noticed the computer was not connecting. When I clicked the "Connect" button, the loading "circle" simply started spinning either indefinitely or for a few seconds until the "Connect" button showed up again. The Bluetooth on my Dell E5540 is on, and the 2 devices are paired.
Maybe this project legoBTLE4pi could help you. It connects a Raspberry PI via Bluetooth to a Lego Powered Up Brick and does all the funny stuff.
The project is ongoing (nice TUI etc) but everything works.