I also read the same thing on a reddit post that waiting on the "waiting for rescue commands..." screen eventually takes you into recovery mode, but in my case that's not happening. After waiting approx 3-5 mins, the screen goes blank and the phone reboots again.
I've tried it from standard boot, recovery mode, and rescue mode all with the same result.
Is it worth trying ADB? In the video linked above, someone in the comments has written:
@ForYouPlays:
it didn't work on a pixel 6 my phone is stuck on the waiting for rescue commands screen still
edit: I FIXED IT! IF THIS DOESN'T WORK FOR YOU GUYS THEN TRY USING THE ADB COMMAND "adb reboot recovery" AND THEN REBOOT SYTEM FROM THERE
Can anyone advise if this sounds like a reasonable suggestion and if so, how do I use the ADB command "adb reboot recovery" ? what I don't understand is that I thought I need to enable USB debugging for ADB, but obviously cant get to the settings in the phone to enable it!