1. IEEE Std 802.11™-2020 (Revision of IEEE Std 802.11-2016), IEEE Standard for Information Technology—Telecommunications and information exchange between systems Local and metropolitan area networks—Specific requirements - Part 11: Wireless LAN Medium Access Control (MAC) and Physical Layer (PHY) Specifications.
Section 11.1.3.2.1, "Active scanning": "To find any AP, the STA transmits a Probe Request frame with the SSID field in the SSID element set to the broadcast SSID (i.e., the length of the SSID field is 0)."
Section 9.4.2.2, "Probe Request frame format": "The SSID element indicates the desired SSID. A STA may set the SSID element to the broadcast SSID (the SSID element with the SSID field of length 0) to request a response from any AP."
2. Carnegie Mellon University, School of Computer Science Courseware. "15-441: Computer Networks, Lecture 23: Wireless," by Srinivasan Seshan.
Slide 21, "Joining a Network: Scanning": The slide on Active Scanning describes the process: "Probe request sent on each channel... SSID = broadcast... APs send probe response...". This confirms that a broadcast SSID (null SSID) is used to discover available APs.