I have been having issues with my trackpad and bluetooth keyboard reconnecting to after I wake up from a sleep session. Only twice now but the same thing. Instead of restarting (which will fix it) you can drop into the command line and run these two commands:
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sudo kextunload -b com.apple.iokit.BroadcomBluetoothHostControllerUSBTransport
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sudo kextload -b com.apple.iokit.BroadcomBluetoothHostControllerUSBTransport