There is apparently a strange interaction of some kind between Windows 10 and the AX201 and AX210 around idle. The feedback we got from Intel is that this is resolved with Windows 10 21H2, and the preview builds we tested earlier did seem to resolve the issue.
After successfully upgrading to 21H2 (via this enablement package), and also disabling USB Selective Suspend, the issue is somewhat improved. It occurs less frequently and with a shorter delay when it does. Neither the upgrade nor the configuration have an effect alone; you must do both. Regardless, the issue is still present.
I was also having Bluetooth mouse lag and jerkiness with a Logitech M355, even after disabling USB Selective Suspend. This seems to be resolved now with the October 12th KB5006670 Windows update.
I’m on Windows 10 21H1.
Edit: I know the update doesn’t mention bluetooth in the highlights, but the list of the files in the update does include bthenum.sys, bthport.sys, and bthusb.sys so it’s at least plausible that there was a fix in there. I think?