My only qualm with ESP32 is the toolchain doesn't really work with openbsd - probably not with any Unix that isn't Linux. Other than that, it's a pleasure to work with them.
I am using IDF with ESP32-C3 on FreeBSD with this unofficial port https://github.com/trombik/xtensa-esp32-elf
Zig works without external toolchain (only OpenOCD from link above).
I agree, they are pleasure to work with (documentation, code examples, JTAG+USB already on chip die) especially in comparison with Bouffalo offerings
