I work with SoC suppliers, including Qualcomm and can confirm; you need to sign an NDA to get a highly patched old orphaned kernel, often with drivers that are provided only as precompiled binaries, preventing you updating the kernel yourself.
If you want that source code, you need to also pay a lot of money yearly to be a Qualcomm partner and even then you still might not have access to the sources for all the binaries you use. Even when you do get the sources, don’t expect them to be updated for new kernel compatibility; you’ve gotta do that yourself.
Many other manufacturers do this as well, but few are as bad. The environment is getting better, but it seems to be a feature that many large manufacturers feel they can live without.