There are two important things about Bluetooth.
1. There are actually two kinds of Bluetooth. The "traditional" mostly connection-oriented Bluetooth and BLE (Bluetooth Low Energy). They share very little with each other, except for the marketing name. BLE works way better in practice. Many people still remember their old headsets that used Bluetooth and that took ages to connect to their phones and associate those with the "Bluetooth experience".
2. Bluetooth is complex. Many manufacturers get it wrong. But the problem is not with Bluetooth. You could invent a different set of protocols, and if they were to do everything that Bluetooth does, they would get very complex as well, and we would have the same problem, except in a less popular and less broadly adopted protocol.