Yes I want to use bluetooth modules to send data between ESP32 and UNO. The ESP32 controls a servo but it should only do so once it gets the signal from the UNO. Once the servo has reached its goal position, the ESP32 should send a confirmation message back to the UNO.
It looks like task 12.1 in the pdf you have attached somewhat does this (I have only skimmed it). But can you explain the need for the android phone? I only want communication between the two boards. Is the phone necessary?