Bluetooth audio randomly glitching (iPhone 11 / 13 with Pioneer DEH-X5700BT)

I've recorded it so you can hear:

https://www.youtube.com/watch?v=YAuN5YcYeWA

The glitch occours randomly, it can happen 30 seconds after I start

listening to music or 30 minutes, and no matter if I'm using the phone

or not.

The Pioneer bluetooth module is 3.0 but that should not be a problem since Bluetooth is backward compatibile. All the android phones of my friends work just fine.

My current iPhone is model 13 with iOS 17.6.1, but it did the same exact issue on my previous iPhone 11.

(Already tried manually removing and readding the devices on the stereo memory but that didn't solve the issue)

Help!!