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They're pretty great and compatible with most things. ESPHome [1] is a great resource for getting ESP32's working nicely with HA and you can find lots of projects using it to learn from.
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/
esp32s and esp8266s are my favorite pieces of hardware... for $2 you can setup a wifi access point
https://github.com/martin-ger/esp_wifi_repeater