Kernel Panic when using Bluepad32, Arduino and Wifi at once

While using Bluepad/Bluetooth functionality on an esp32 while also using Wifi connectivity, the ESP32 panics sporadically. Unfortunately I'm not really sure what exactly causes the issue. It happens when idling as well as during playing. Usually it happens once in 1h. As per below Stacktrace it seems to be related to some sleep function for the bluetooth modem.

ASSERT_PARAM(1024 0), in rwbt.c at line 381
Guru Meditation Error: Core  0 panic'ed (IllegalInstruction). Exception was unhandled.
Memory dump at 0x40090164: f01d092d 00004136 f01d0000
0x40090164: btdm_sleep_check_duration at /Users/bbsan/ESP/esp-idf/components/bt/controller/esp32/bt.c:1091

Core  0 register dump:
PC      : 0x4009016b  PS      : 0x00060734  A0      : 0x80083e21  A1      : 0x3ffc1cb8
0x4009016b: r_assert at /Users/bbsan/ESP/esp-idf/components/bt/controller/esp32/bt.c:2019

A2      : 0x00000000  A3      : 0x00000400  A4      : 0x00000000  A5      : 0x3f41436c
A6      : 0x0000017d  A7      : 0xfffffffc  A8      : 0x8000814b  A9      : 0x3ffc1c28
A10     : 0x00000000  A11     : 0x3ffc1c4b  A12     : 0x3ffc1bf7  A13     : 0x00000031
A14     : 0x00000000  A15     : 0x3ffc1bfc  SAR     : 0x00000004  EXCCAUSE: 0x00000000
EXCVADDR: 0x00000000  LBEG    : 0x40083d29  LEND    : 0x40083d31  LCOUNT  : 0x00000000
0x40083d29: r_assert_param at ??:?

0x40083d31: r_assert_param at ??:?



Backtrace:0x40090168:0x3ffc1cb8 |<-CORRUPTED
0x40090168: r_assert at /Users/bbsan/ESP/esp-idf/components/bt/controller/esp32/bt.c:2018





ELF file SHA256: 7e2bbc9ee2a9d980

Rebooting...