I am no Bluetooth specialist and wondering what possibilities are available to find already paired Bluetooth devices automatically when they are range of each other.
<After connecting the device for the first time, keep the mac address in a local list. On disconnect, use connectGatt with autoconnect set to true to automatically re-connect when you are in range.
Not a full solution, but maybe it's sufficient for your app to poll the accesory's presence whenever the screen is turned on? In that case, this may be helpful: Start Activity on wake up/sleep in Android