ESP32 Bluetooth Classic Master Mode (Client)

[bongo1000]

i need to establish a bluetoot classic connection from an esp32 to an existing HC-06 module, to automatically send commands over bluetooth which have so far been sent from an android phone to the HC-06.
unfortunately, i am not able to establish a bluetooth connection from the esp32 to the HC-06.

preferred method would be to connect by "name". the HC-06 also has a pin code which has to be used to pair.
where can i find a working example, resp. what code sequenc do i have to use on the BluetoothSerial class from arduino to connect?

the only example i found so far was not really complete and did not work for me.