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I'm assuming that this is all taking place on the Nano (both the bluetooth connection and all of the ROS content) in both scenarios? If that's the case, my guess is that bluetooth isn't being launched because the desktop environment isn't being launched.
With no display plugged in, I don't think the graphical.target target in systemctlwill get called. If bluetooth gets launched through your desktop environment, no display means no desktop means no bluetooth and so no controller. Try logging in headlessly, and then launching the bluetooth daemon via systemctl manually.
If it's not all taking place on the Nano, then the difference would be that you're creating a multi-machine setup, in which case you'll want to do some digging into that.
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