iOS Bluetooth list of devices already connected?

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Is there any way to generate a list of devices that are already connected to the iOS device, i.e. find devices that were connected via Settings > Bluetooth? Devices that I'm interested in are likely already connected. Is there any way to interact with those system connected devices via our own apps? I've tried using scanForPeripheralsWithServices with CBCentralManager but seems to only work with devices that are advertising. As mentioned, devices that I'm interested in are likely already connected.

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