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All ESP32 software is fundamentally built using ESP-IDF. ESP-IDF uses FreeRTOS for multitasking and synchronization primitives , provides a hardware abstraction layer to give applications easier access to things like I2C, SPI, hardware timers and the like, and provides a network stack, filesystem and some other low level services.
This is probably the simplest next step before fully transitioning to ESP-IDF and dumping PlatformIO. Here's the PlatformIO example repo that does just this. https://github.com/platformio/platform-espressif32/tree/develop/examples/espidf-arduino-blink
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