How do I stop Bluetooth from connecting to a device unless I want it to?

Is there a way to stop an iPhone from connecting to Bluetooth devices automatically?

I've gone through discussions and the only suggestions are to turn Bluetooth off or forget the device.

Forgetting a device is a nuisance as it means forgetting and then re-pairing constantly, like each time I leave or enter a room.

Turning off Bluetooth means that certain Bluetooth apps will also be disabled unless I turn it on every time I go out (thinking of Canada's COVID tracking app).

With Wi-Fi for example, there's an auto-join option that can be selected for specific networks so that an IOS device only connects to networks I want it to. E.g. I want it to connect to my home or office networks automatically; I don't want it to connect to my favourite coffee shop unless I ask it to.

This has become a problem if I don't want my phone paired with, say, an audio listening device in another room. I want the choice to disconnect until I ask to join that device, and/or just connect automatically to one device specifically.

What's happening is my calls are going to a shared headset, or my audio is getting picked up where I don't want it to be, maybe waking someone else up or getting in their space as a distraction. I can disconnect from the kitchen Bluetooth speakers, but the phone will reconnect within a few seconds.

Are the only options to turn off Bluetooth or forget the device, or am I missing a workaround?

Thanks!