The Bluetooth Special Interest Group (SIG) is responsible for publishing all the Bluetooth specs and you can download them here: https://www.bluetooth.com/specifications/specs/ Notice that everything appears to be there: very detailed specs and information about testing. However, when you try to implement one of these specs you quickly realize that you cannot do it with the spec alone. You need example code, base imp…
So, you are suggesting that the Bluetooth SIG did just a fine job with the technology, no problems there, and that people like Apple don't see fit to use the money in their budget to cough up a membership fee? Seeing as how it is Apple devices on which I often encounter pairing difficulties. Super convenient for the SIG that they can point fingers like this (I wonder if that's why they set it up as you describe, ugh)…
My experience with Bluetooth headphones was that on an iPhone they were occasionally annoying, while on Linux they were quite poor and on Windows they were more like a practical joke. This would have been like 4-5 years ago though, maybe all the stacks have been improved.