That's exactly the setup I use and I haven't had the problem you're describing, so it probably isn't a compatibility issue.
I'm rooted and using bonzai 4.1.3 (froyo); before that, stock with froyo and every single firmware update Sprint has issued since the phone premiered in August 2010. I've owned an Icon since late September 2010. Updated the firmware, installed the A2DP update (which solved the manual volume adjustment issue I've read complaints about), downloaded the least obnoxious voice, and haven't installed any further updates for about a year. Haven't paid attention to dial apps, since so far as I know, there *is* a compatibility issue with voice dialing and android phones (though perhaps that's been addressed).
Your sudden disconnection issue could be firmware-version-related, but I'd look at other possibilities first. If you're still having the issue, try uninstalling task killers and apps like juice defender. Sometimes killing a google-related app. also kills processes the user wasn't aware were necessary. If force quits aren't the issue, then reinstall.
Have you tried deleting the Icon from your Epic's bluetooth list and then finding and re-pairing it?
