There is also https://github.com/pioarduino/platform-espressif32 which allows one to use Arduino > 3.2 and IDF > 5.4. If you use PlatformIO put this into your platformio.ini

  [espressif32] ; PLATFORM
  platform = espressif32
  board_build.embed_txtfiles = folder/file.ext ; embed null-terminated file(s)

Also have a look at https://docs.platformio.org/en/latest/platforms/espressif32.....