missing rtl8723cs_xx_config-pinephone.bin
hello, it seems you are only creating rtl8723cs_xx_config-pinebook.bin. In order for bluetooth to work on pinephone, the file rtl8723cs_xx_config-pinephone.bin is also required:
[ 11.573943] Bluetooth: hci0: RTL: loading rtl_bt/rtl8723cs_xx_fw.bin
[ 11.595217] Bluetooth: hci0: RTL: loading rtl_bt/rtl8723cs_xx_config-pinephone.bin
[ 11.602883] bluetooth hci0: Direct firmware load for rtl_bt/rtl8723cs_xx_config-pinephone.bin failed with error -2