Can you confirm your APs TIM interval?

you can not filter on advertisement, since it is a broadcast.

You can see the UUID on scanning, just like you can see the mac.

have you tied the latest v3.1 power save example? what is your current draw on this example project?
https://github.com/espressif/esp-idf/tr ... power_save

you mean like BitTorrent? if no, what about "wifi mesh" or "ESP-now"?

why can't you whitelist a custom UUID?

You can use RTC_DATA_ATTR to save your struct in RTC ram.
After your first DHCP, save ip, mask, and gateway into RTC. On subsequent boots, use with static IP. Remeber to set your DNS to your gateway address.

Also, the MPU9250 has the worst i2c... I have used it with an CortexM4F, and it has gotten the bus stuck (needing to power cycle the chip)... I would not be so quick to blame the ESP32. I have since shifted to SPI... its faster and does not get stuck.

The MPU9250 is quite old, I am surprised you are using it for a new project. The problem with it is, the MPL software is on your host processor, which means any missing gyro data can mess the whole algo. Also, it is VERY sensitive to mag calibration, if it is not calibrated correctly, your reading w...

Also, just for the record, the FreeRTOS drivers for the ESP32 are amazing, this is the main reason I love this chip. The ESP-IDF is reliable and makes life easy for 99% of applications...