I can not confirm your findings with IDE 2.3.10(latest version, 2.3.20 must be a typo) and esp32 core 3.3.10
With Board Selection ESP32S3 Dev Module I can load the UART example sketch and connect to the esp32S3 with Light Blue, nrfConnect, and Serial Bluetooth Terminal(Morich App) running on a Samsung A54 phone with Android 16.
What is the "Android Terminal" you are trying to connect?