I only know of Rasberry Pi Pico W support, which does not utilize an ESP32, but an RP2040 instead.
However CircuitPython and Micropython both work on the RP2040.
It may be possible to build/compile your own firmware package targeting the ESP32 by using the updated TLS security work that @meredydd et al. contributed to to make it work on the Pico W, however you would probably really have to know what you are doing.