Matrix's code is independently audited, and they just completed the 2nd of those earlier this year. They did have some Cryptographic issue several months ago, but it was fixed quickly, and was on an old code base. The replacement is apparently close to completion, at which point that system will be submitted for an independent cryptographic audit.
I will admit that BlueSky does seem to incorporate the recently announced decentralized identifier (DID) spec from the W3C. The DID Method specs are still a hot mess, and there's no guarantee that the W3C is even capable of navigating that corporate 'I was here first' minefield. But I still have to tip my hat to BlueSky for doing it though. Given identity is so fundamental to these types of things, I suspect it'll be a damn mess incorporating it into existing protocols.