Utilizing "dual audio" (Bluetooth 5 standard) to "intercom" two connected headsets

I've seen a number of apps that allow a Bluetooth headset to intercom or walkie talkie to another phone over WiFi/udp or phone to phone over Bluetooth but I'm looking to connect two "headsets" to one phone and have the mic from the one talk to the headphone of the other and vice versa. I believe this is possible, but I'm not sure if it exists or if I need to make it. More details: I bought a side by side and want to have a way to talk to my passenger. I've already got a helmet with an IMSA plug (road racing) and earplug headphones, and I'd like to keep that setup, so I bought a traccom chaser, which I believe is basically a Bluetooth headphone setup that plugs into my helmet plug. The passenger would have one as well. Generally, you'd pair one with a phone, then call another person with one, or there's a chance I could pair it with a "Sena" motorcycle-style system. I didn't want something that stayed in the vehicle because they're mostly not waterproof or extremely expensive.