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I have had that problem constantly. It is especially frustrating when I try to make a call with my blue tooth using voice command. I end up having to get my phone out to call.
I talked to Samsung using their "live chat". They had no clue. Wanted me to do a hard reset which would have resulted in losing my contacts and other stuff. I also have had problem with S Voice voice prompt staying enabled. It reverts back to text. Another irritation when trying to make a call with blue tooth and not knowing whether it dialed right number until person answers.