The problem has been solved! See the solution here: https://github.com/espressif/esp-idf/issues/17493

For anyone:

I've applied this patch. Now, I can init and deinit like before, but when I reinit after, I get 'Write on Protocol Mode Failed: 5' instead of crashing and am unable to send Bluetooth commands.

Here is my log from deinit to reinit:

I (21052) ESP_HID_GAP: disconnect; reason=534
I ...

Hello! I am developing a product with ESP32-C5 on ESP-IDF v5.5. I'm having an issue where I am unable to deinitialize and then reinitialize Bluetooth nimBLE as a HID device without crashing with what is usually a Guru Meditation Error.

On first initialization everything works fine, then I can ...

Possibly not in bootloader mode? It will recognize and unrecognize when not in bootloader. You can resolve by holding boot, clicking reset, then releasing boot button. A working minimalist schematic for a custom esp32c3 board can be found here if you want to compare your c6: https://www.roboticworx ...

Possibly. If any, I seem to recall that for an S3 the bootloader starts at address 0. Not sure if PIO works that way as well, but for ESP-IDF, after flashing, you can find a file called 'flash_args' in the build folder that tells you where the binaries should be flashed.

This was correct and ...

I'm having the same problem and am new to the flasher tool. I currently have the main.bin, partition_table.bin, and bootloader.bin selected. Are these correct? Thanks

Had the same problem. Turns out, my serial terminal was open! Closing the terminal resolved the problem. You can also test this by using a USB cable with only power lines.