I ran into the same problem when trying to build a board without the BLUETOOTH module. To fix it, you need to edit the file make/family/ESP32.make and add this line after line 10:
SOURCES += targets/esp32/jshardwareESP32.c.
SOURCES += targets/esp32/jshardwareESP32.c
BTW: Removing Bluetooth also reduces power consumption by around 40ma.
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