I have had great luck running ESP32 apps with the Arduino framework. Everything I have tried works. Admittedly I am only using GPIO, SPI bus displays, I2C sensors and displays, WIFI web servers serving REACT apps, WIFI posting to other web services, and ESP-NOW layer 2 direct WIFI connectivity. But this stuff has been flawless.

p.s. the ESP32 dev modules suck and brownout randomly with WIFI usage. I use my own PCB and put fat tantalum caps feeding the modules.