So I researched a bit into the issue and found this:

https://github.com/espressif/esp-idf/issues/7781

It seems like the issue is present since IDF 4.4 and still hasn't been resolved, can anyone confirm this?

Hello, I've developed a code a few years ago that ran on IDF 3.3 that used BT classic to exchange data with a mobile device and I2C as a master to exchange messages with another slave microcontroller. Recently I updated IDF to version 5.1 and ported the old code to the new IDF version. Everything wo...