I may have found a workaround. Since I got the car (2016 XF) I could only use music streaming through Bluetooth, if I tried to use the phone function as well it would connect and disconnect continuously. In Bluetooth settings press the 3 dots in the right corner, then advanced and there tick dual audio, untick media volume sync, untick ringtone sync and it should now work. For me it did. Also I should mention that under developer options, Bluetooth AVRCP version is set to 1.3, this might also be necessary.
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