here's a portion of the block-diagram for the ESP32-H2:
question: is there "register-level" access to the RF block??? can i implement a customized 2.4 GHz protocol on this device???
at some level, there is presumably a generic FSK transceiver that supports both BLE and 802.15.4... is this accessible to bare-metal firmware; and if so, where can i find additional documentation???

Unfortunately, no. The low level radio drivers on all ESP32 CPUs are provided only as closed-source binary blobs which are linked into applications. The data sheets provide no insights into how to talk to the radio subsystems other than the fact that ADC2 is used in ESP32 and ESP32-S2/S3 CPUs.
You can find the binary blobs in the esp32-phy-lib module which is a component of ESP-IDF.