Can ESP32 BLE scan and connection at the same time?

[wilkins]

Hi Guys,

I'm trying to use ESP32 develop one gateway, connect 2 BLE devices and transfer signal out through RS485 and WiFi.
I want ESP32 BLE can work as Gatt Client, and keep scan in idle mode.
When it discover one paired BLE device, it can make connection with it through esp_ble_gattc_open. I hope it can keep on scanning at the same time to looking for the other devices.
But in gatt_client examples, if I do not stop scanning, it seems ESP32 can not open Gatt connection with the first device successfully.

Can ESP32 work in this way ?

How can I set the BLE scan white list?