MCHP has been slowly coming up with decent radio devices, finally. If you don't use the radio going bare metal is basically effortless, if you need to use the radio the dev Tools are actually improving, though they are still nowhere as good as IDF in hiding the ugliness.

Of course they are more expensive (not much more, really, compared to simillar specced ESPs) but they are western and the peripheral actually work as intended. In my projects with ESP32 i had to basically bitbang every peripheral that i needed to use beyond their simplest mode.