Looking for a way to track nearby Bluetooth devices (outside Home-Assistant)

Hi.

I am running Home-Assistant on a VM and want a solution to automatically scan the area for Bluetooth devices.
I want this on a separate Raspberry Pi, but I want to be able to integrate it in Home-Assistant (e.g. MQTT).

Use case: Track devices nearby, people in my house but also neighbors etc.

I know there exist some soluions, but anyone have a recommendation ?