For me, prior to the latest 6.10 firmware update on my Edge 1030 Plus, my sensors would all connect automatically when I turned on the unit and started a ride, including heart, power/cadence, speed, and even Bontrager lights.
Now none of them auto-connect. I have to go into Settings/Sensors and manually connect each one individually, and turn on my lights manually (Oh the horror! I know right?) They are still paired; that's not the issue. And I don't have any issues with dropped connections during a ride. It's just the initial connection at the start of a ride.
It does, however, connect to all of my Sram Red eTap components without a problem.