…Dont you need to set SERVO_BLH_OTYPE to 4/5/6/7? Even if _AUTO works, I dont think it sets the output type.
set SERVO_BLH_OTYPE to 4 (= DShot150).
https://ardupilot.org/copter/docs/common-dshot.html#configuring-dshot-esc-protocol-output
…and the_AUTO didnt work for me, I had to set it manually with _MASK:
Use SERVO_BLH_MASK to enable BLHeli_32 pass-through and telemetry support on non-multirotor motors and / or exactly specify which servo outputs you want to enable BLHeli_32 pass-through and telemetry on.
*Edit: Disclaimer: I dont have an orange cube