Try going into Settings/Apps/Bluetooth Share and clear cache & data. You will need to pair the device again, but it may fix it. Sounds like something is corrupt.
I am so sorry you have been having issues with the device rebooting when connecting an audio device. How long have your been having this issue? Have you tried the wonderful steps presented by SoccerRef12? If so, did it help? Have you downloaded any new applications around the time this began?
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