Sometimes, you may have trouble with Bluetooth disconnecting because your phone’s software is out of date. Also ensure your vehicle’s software is up to date, if applicable.*
Also, if you are on a call when the engine is off, the vehicle may time out of accessory mode to save the battery. When this happens, the connection between your phone and the vehicle will disconnect and the call will be transferred back to your phone.
*Note: You can check if your vehicle is eligible for software updates, or see the progress of an update, by selecting Settings > System > Vehicle Software > Updates.