Even if your device can’t establish a Safe Mode connection (breathing magenta) after you release the SETUP button you are already in Safe Mode (just not connected) and hence can try to immediately press SETUP again to enter Listening Mode before the reset happens.
This at least ensures that your installed firmware won’t interfere with Listening Mode.
You could also try flashing my sketch from here via USB to do reset some of the sticky settings that might prevent connection if they ever were applied (accidentally or intentionally but got forgotten).