I have the same problem. iPhone 13 with OS 16.2 and firmware 1.4.0
When I walk away from the phone, left and right HA connectivity with the phone drop. Have to reconnect the left and right HA again to the phone.
Firmware1.3.0 connectivity is more stable the iPhone 13 OS 16.2
Maybe firmware 1.4.2 will be ready by the end of Jan 2023.
VERY frustrating!