Wonder why there has not been some sort of open standard discussed. It's been a dozen plus years since the 1st HW wallet came out. Really surprised that at this point nobody has come out in public and have a public discussion to say "lets do it this way, or at least lest discuss some sort of standard"
To the best of my knowledge, such standard does not exist.
Most wallets using QR codes use the standard
BIP174 PSBT format as well as standard QR code generation and parsing, hence no RFC needed.
Contrary to my belief that QR codes would become the default, these days various newer wallets use other physical technologies.
I'm thinking about NFC (Satochip), 'Quantum Link' (Passport Prime) or plain Bluetooth (Ledger).
Covering hardware wallet communication protocols for different (or all) physical channels in one RFC might be infeasible.
But it would be very nice to see some solid communication architectures ossified into RFCs, also for interoperability.