I've never worked on the BT stack, and I have only very high-level idea of how it works. But no matter the hardware, the operating system and the use case, BT is orders of magnitude less reliable than WiFi and other wireless protocols, and I don't understand why.
Some things that are surprising:
1. Devices from the same manufacturer can't see each other
2. Bluetooth audio turns choppy for no reason
3. I have never seen BT work at all on Windows, even in 2024. I cannot think of a single example where I managed to connect a BT device to a Windows computer.
4. BT audio is sensitive to my body moving, for example bluetooth headphones consistently drop audio when I walk at a specific pace.
Is the main source of problems something about the range of frequencies BT uses? Is it a hardware problem, maybe due to the low power? Why haven't we been able to make it work reliably even after 25 years?
As a result, getting anything through relies on lots of error handling and quite a lot of software is not the highest quality, shall we say? It's also not helped by lying user interfaces telling you a device is connected when snooping packets manifestly shows its not (looking at you, Apple).
Bluetooth can be pretty reliable - in RF-quiet environments. Low data rate stuff with error handlng/repeat transmissions often works by getting through during periods when there happen to be few interfering signals. Trying to use BT for relatively high rate date (e.g. audio) with lots of nearby wifi's is always going to be hit and miss.