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I've come across Bleps (from the ESP examples), and it looks great. However, it admittedly doesn't plan to introduce more advanced features, such as pairing and bonding. Of course, given it's open source, one can always fork it and contribute. However, with my fairly low knowledge of embedded systems, let alone BLE specs, I don't think I'm the right man for the task for months to come, at minimum.
I think I get the basics (shoutout to the Rust Embedded Working Group!), and I've started looking for the stack I'd be using. I think Embassy is really amazing, as well as the work of the ESP team -- hats off.