> But I've only programmed Esp32s using the arduino dev environment.

Well you can use PlatformIO/VSCode and the ESP-IDF.

If you're ok with the Arduino 2 framework, then you can use PlatformIO as well. Unfortunately Arduino 3 support isn't there yet so a lot of libraries like HomeSpan won't work on PlatformIO at the moment.

https://github.com/platformio/platform-espressif32/issues/12...