Hi,
even if the discussion is older it is still an everyday problem to solve.
We use multiple ESP32s with arduino and need lots of communication.
So here is my approach:
We want to use eight ESP32s that are build into two robots.
The two robots have to talk via bluetooth, as only peertopeer is ...

I just tried to do use a Bluetooth Joystick with my ESP32, but I get an error bta_gattc_conn_cback() - cif=3 connected=0 conn_id=3 reason=0x003e
updating to the newest arduino made the error to disappear, but the return code of the connect-function is false,
so even if I do not get an error message ...