diff --git a/CHANGELOG.md b/CHANGELOG.md
index 856ac55da..2bfc4b739 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -22,7 +22,8 @@ and this project adheres to [Semantic Versioning](http://semver.org/spec/v2.0.0.
 - Scan Parameter Service Client: emit disconnected event on HCI disconnect and free connection struct
 - PBAP Client: fix PBAP_SUBEVENT_OPERATION_COMPLETED with OBEX_DISCONNECTED for pbap_disconnect
 - HFP HF: send HF Indicator update only if enabled by AG
- 
+- HFP AG: always initiate codec connection setup before establishing audio
+
 ### Changed
 - GAP: return command disallowed if disconnect already requested
 - GAP: improve handling of incorrectly resolved addresses in HCI_SUBEVENT_LE_CONNECTION_COMPLETE
diff --git a/src/classic/hfp_ag.c b/src/classic/hfp_ag.c
index d51260701..8a2af2052 100644
--- a/src/classic/hfp_ag.c
+++ b/src/classic/hfp_ag.c
@@ -2760,22 +2760,8 @@ static uint8_t hfp_ag_setup_audio_connection(hfp_connection_t * hfp_connection){
         return ERROR_CODE_SUCCESS;
     } 
 
-    uint8_t i;
-    bool codec_was_in_use = false;
-    bool better_codec_can_be_used = false;
-
-    for (i = 0; i<hfp_connection->remote_codecs_nr; i++){
-        if (hfp_connection->negotiated_codec == hfp_connection->remote_codecs[i]){
-            codec_was_in_use = true;
-        } else if (hfp_connection->negotiated_codec < hfp_connection->remote_codecs[i]){
-            better_codec_can_be_used = true;
-        }
-    }
-    
-    if (!codec_was_in_use || better_codec_can_be_used){
-        hfp_connection->ag_send_common_codec = true;
-        hfp_connection->codecs_state = HFP_CODECS_IDLE;
-    }
+    hfp_connection->ag_send_common_codec = true;
+    hfp_connection->codecs_state = HFP_CODECS_IDLE;
     return ERROR_CODE_SUCCESS;
 }