There's a specific exemption in the part 15 rules for home-built devices. You need neither a license nor equipment approval to design, build and operate ISM-band equipment.
Don't forget experimental licenses. You can literally do anything you can talk the FCC into permitting, and they're generally nice people if you apply in good faith (like, apply for a supposed R+D license to transmit wideband voice FM on 101.1 MHz 24 hrs a day and they'll laugh and tell you to go away, but for genuine serious R+D requests they'll bend over backward to help)
I was not directly involved in legal paperwork stuff but my understanding is a short term STA costs a varying amount depending on service code and all long term form 442 cost sixty bucks. I also recall the 442 is about a tenth the paperwork required, so I don't really see a point in requesting a STA for truly experimental work. Of course you can get a STA for literally any service the FCC regulates, whereas form 442 are only for legitimate blue sky experimental research.
https://www.ecfr.gov/cgi-bin/text-idx?SID=2ae3224dc711208e8b...