Android: disable Bluetooth when you're not using it (but you'll be vulnerable while you are). My Pixel just got the 12/5/2023 security update, which fixes the issue; not sure about non-Pixel phones.
Linux: Open up /etc/bluetooth/input.conf and set ClassicBondedOnly=true (in my case I just had to uncomment this, not add anything). The next version of bluetoothd should default to =true, but you can set this yourself now. Don't forget to restart the bluetooth service after doing so.
Not sure about macOS or iOS; I don't have devices running either of those.