You'll likely need to do soldering if you want to connect sensors, batteries and the like.
Personally I really like what SEEED Studio [2] does with their ESP32 boards and they have nice docs.
1. https://esphome.io/ 2. https://www.seeedstudio.com/home-assistant
See this kit for example: https://a.aliexpress.com/_EyZhdw5
Tasmota has a setup package of you don't mind manually setting up each device. You can also configure them with code if you learn a little c and platformio. At this point, I batch my devices and flash them with wires for initial configuration (Wi-Fi, mqtt, etc), then run updates wirelessly using an http server on my network and mqtt to coordinate.
Side note, the esp8266 is older and less powerful than the esp32. In practice, the esp8266 can't handle https but the esp32 can. This has never been an issue for me and most of my devices are 8266.
So depending on what you're doing, they're an excellent place to start.