Similar issue with Kia Sportage. Pairs OK then after 3 connections, 'Pairing failed'. Delete pairing and reconnect- OK for 3 more. really irritating, as are Samsung support.
When connecting to my car (Kia Sportage) works fine for 3 connections then 'Pairing failed' Delete phone pairing and reconnect, OK for 3 times again. Samsung customer support useless. TAKE NOTE SAMSUNG.