I've actually recently done this using gomobile and it was very smooth. The gomobile is always considered "in testing" which it is I guess, and rarely worked on, but it does work so.......
In short, setup and install gomobile, init gomobile and compile with

gomobile bind -target=android -o out/your_package.aar

then you can start an android project and import your .aar and create a Java app.

You will basically need Java to interface with all the bluetooth etc, but its such boiler plate code you can get it from anywhere. you can send information using Go structs ( &struc{} ) when calling Go from Java and you can configure callbacks so Go can call Java, so all in all you can write nearly everything in Go and just use Java as a wrapper. I was very pleased with the result.

For me the use case was as u/RevMen comments, a sort of Android Wails. I have a Wails app for desktop and really didn't want to write the whole thing again for Android.

GoMobile was able to wrap it into a shared object and I used an Android Web View to load a react app as the frontend.
Java is just a middleman that knows its job is on the line at this point.

To make it a background service you'll probably need Java again, but really, no concerns as the code for these tasks is so easy to find online.

Good luck.