How to set up audio bluetooth in audio qube

I’m trying to figure out how to get audio bluetooth devices like headphones to work in my sys-audio qube. I’m having trouble finding any guides that do this, most of them seem to be talking about the dom0 setup.
The first issue I’ve run into is that running bluetoothctl in sys-audio and then running list yields no controllers. How do I make those available to sys-audio?

I hope this thread can be used as a general sys-audio + audio bluetooth troubleshooting thread and if there are any comprehensive guides for this then feel free to post.