If you use the Arduino IDE to program the ESP32, you might be interested in [Andreas Spiess’] latest video (see below). In it, he shows an example of using all three ESP32 UARTs from an Arduino ...
In theory, using MicroPython on the ESP32 is easy — just flash an image and connect using a serial port. But that leaves a lot of things you still have to do. You need to move files between the two ...