I find the ESP32 much easier to develop for, you don't need to install any toolchains, just plug in and drop code into the virtual USB drive that shows up! I wish all microcontrollers were like that these days.
ESP-IDF is still very nice though, and being CMake based makes it easy to integrate outside code
It supports serial based uploads, which are still pretty nice with the bundled serial monitor (one key combo to build, upload, and restart) and OTA uploads
EDIT: grammar and typos.
The question, of course, is: What if these CAs expire?