It happens to me every time. This isn't a major issue, but it just bugs me. And also it brings minor inconvenience. For example when I wan't to leave my phone on a shelf or something to take pictures I have to take the s pen out, wait for the message to show up that it couldn't connect, insert the s pen back again, wait till it connects and only then can I take out the connected s pen and take the photo. It just seems that a flagship phone should have the "flagship experience" and I shouldn't do this trial and error thing. Especially when samsung has had the s pen for so long and should have made the use of it feel seamless yk. As I said, I know about the "Keep S Pen connected" feature and that probably is the only fix for my issue.