Esp32s are amazing fun. I designed boards in the 80s and I still love tinkering with microcontrollers. The reflux control for my still currently uses a brushed motor controlled by PWM and I am upgrading it to a second hand pump with a brushless motor so I am looking at driving it. I just set up an old drone ESC and am controlling the motor with dshot and it works ok. There is a little pre built board Simple FOC that is also esp32 I just ordered for 20 bucks to give a try.

I've been a developer for 45 years and I still actually like it most days.