Keyboard and trackpad do not woke after waking up

The keyboard and trackpad on my MBP 16" have a common problem where the keyboard and trackpad are dead after the macbook wakes up from sleep. The system also pops up with a "would you like to connect a bluetooth keyboard" as no keyboard can be detected by Mac OS. After a minute or so the keyboard and trackpad suddenly connect. I have observed the issue on other models as well.

Has anyone else experienced this issue and know of any fix?