I’ve kept out of #embedded C/C++ programming for ESP32 based microcontrollers for the last 4 years, just jumped back in, and it looks like PlatformIO and Espressif are angry at each other! It’s a mess!
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Yes espidf is where I’m looking at next. There is a community led effort called pioarduino https://github.com/pioarduino/platform-espressif32 that has both Arduino and espidf support. Looks like tasmota has moved over to this nowadays.
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I have been using PlatformIO with AVR and it's great.