Best way to control Nema17 via bluetooth app on ESP32 Dev board?

Projects Interfacing w/ Software on the Computer
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As the title states. I've tried Blynk however it is hard-coded to a specific WiFi network which I'd like this to all work offline. I'd also like the option to connect to multiple boards (with a motor on them each) easily or at the same time. I'd prefer to use an app rather than ESP-Now with buttons. Thanks!

If it is an option, preferably an aesthetic app with sliders or timed features but the only solution I can find is Bluetooth Terminal app from what I can see available

Edit: Using A4998 Driver board for motor

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Try this

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which specific ESP32 dev board are you using? e.g. ESP32, ESP32S3, ESP32C3, etc
Bluetooth Classic is only supported on the ESP32 otherwise you are looking at BLE
which smartphone are you looking at?
for Android I would Android Studio to develop apps but MIT App Inventor is an alternative