This catches me out too. It can be trivially reproduced with the following sample:

float_division.c

#include "py/dynruntime.h"

STATIC mp_obj_t v_normalise(mp_obj_t factor) {
        mp_float_t f = mp_obj_get_float(factor);
        return mp_obj_new_float(f / (mp_float_t)0.3333);
}
STATIC MP_DEFINE_CONST_FUN_OBJ_1(v_normalise_obj, v_normalise);

mp_obj_t mpy_init(mp_obj_fun_bc_t *self, size_t n_args, size_t n_kw, mp_obj_t *args) {
        MP_DYNRUNTIME_INIT_ENTRY;
        mp_store_global(MP_QSTR_v_normalise, MP_OBJ_FROM_PTR(&v_normalise_obj));
        MP_DYNRUNTIME_INIT_EXIT;
}

Makefile

MPY_DIR = ../micropython
MOD = float_division
SRC = float_division.c
ARCH = xtensawin
CLEAN_EXTRA = float_division.mpy
include $(MPY_DIR)/py/dynruntime.mk

With ESP-IDF 4.4 I see the following linker error:

$ make V=1
/bin/mkdir -p build/
GEN build/float_division.config.h
python3 ../micropython/tools/mpy_ld.py '-vvv' --arch xtensawin --preprocess -o build/float_division.config.h float_division.c
CC float_division.c
xtensa-esp32-elf-gcc -I. -I../micropython -std=c99 -Os -Wall -Werror -DNDEBUG -DNO_QSTR -DMICROPY_ENABLE_DYNRUNTIME -DMP_CONFIGFILE='<build/float_division.config.h>' -fpic -fno-common -U _FORTIFY_SOURCE  -DMICROPY_FLOAT_IMPL=MICROPY_FLOAT_IMPL_FLOAT  -o build/float_division.o -c float_division.c
LINK build/float_division.o
python3 ../micropython/tools/mpy_ld.py '-vvv' --arch xtensawin --qstrs build/float_division.config.h -o build/float_division.native.mpy build/float_division.o
qstr vals: v_normalise
qstr objs: 
LinkError: build/float_division.o: undefined symbol: __divsf3
make: *** [../micropython/py/dynruntime.mk:145: build/float_division.native.mpy] Error 1

Uh oh!

Software floating point unsupported in dynamic native .mpy modules #5629

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