for MDBT42Q code you may try to put "compiled" in the methods that are doing the math, see
if it helps then you know how much this would help ESP32 too but this feature is not there (?) for ESP32 but maybe it wouldn't be that much hard to add it
as for raspberry pico, it has hand optimized floating point code in ROM
maybe it helps there too.
BTW, it would be interesting to try this qfplib library with nrf51/52 build too, it is GPLed
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