It would be great if it was documented on how to get access to that funding or even the problems to be addressed in that space for a potential startup.

Have at it:

https://www.darpa.mil/work-with-us/opportunities

And one more that addresses broad research funding priorities rather than specific opportunities. Get used reading these sorts of dry documents if you get involved in this space:

https://www.arl.army.mil/wp-content/uploads/2019/12/arl-baa-...

Here too:

https://www.iqt.org/apply-now/