Hello, very interesting to keep updated the version to ESP32. And it would be great to migrate to ESP-IDF 4 to take advantage of its advances.
I am personally working with the ESP32 version and Espruino v2.0.130 for a year, for educational purposes.
Basically I try to use and test all the functions of Espruino focused on ESP32 hardware. I consider ESP32 + Espruino a more advanced platform than Arduino UNO. And with a more user-friendly adaptation it has a great future.
Everything that I can help and try you can count on me.
The rest of the information I share on the Github.