Tarlogic found a "backdoor" in the ESP32 chips: https://social.lansky.name/@hn100/114127956134801350
Broadcom and Cypress chips have the same HCI "backdoor" allowing to write to the Bluetooth chip's RAM. This feature is used for firmware patches.
We didn't request CVEs for that 9 years ago. Instead, we built the InternalBlue Bluetooth research framework: https://github.com/seemoo-lab/internalblue