Bleepingcomputer's title and article are very misleading, the presentation did NOT reveal a backdoor into an ESP32. It looks like Bleepingcomputer completely misunderstood what was presented (EDIT: and tarlogic isn't helping with the first sentence on their site).
Instead the presentation was about using an ESP32 as a tool to attack other devices. Additionally they discovered some undocumented commands that you can send from the ESP32 processor to the ESP32 radio peripheral that let you take control of it and potentially send some extra forms of traffic that could be useful. They did NOT present anything about the ESP32 bluetooth radio being externally attackable.
Another perspective that might help: imagine you have a cheap bluetooth chipset that is open source and well documented. That would give you more than what the presentation just found. Would Bleepingcomputer then be reporting it's a backdoor threatening millions of devices?
I happily ran THUGPRO under wine, so I assume rethawed would be the same. Dunno.
Looks like it's abandonware. Yeah, publisher dropped the ball.