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There's a good chance its the magazine. Seeing how the follower and subsequently the magazine spring are what induces the bolt catch to operate. A weak mag spring or sketchy follower could be the issue.
I ran into similar problems with a stainless steel bolt catch. The bearing surface had been worn from use and would allow the bolt to slip. I replaced the catch with a standard one and no issues. You might try replacing yours. Its a cheap fix and if it doesn't work you end up with a spare.
You can depress the bolt catch either before, during, or after retracting the charge handle. Just make sure you don't release until you've allowed the bolt to travel forward.