This should have been resolved in ESP-IDF compilation fails on Mac due to pyparsing version · Issue #561 · platformio/platform-espressif32 · GitHub. But I also see that the error message is slightly different
When the observed error was
linker script generation failed for //.platformio/packages/framework-espidf/components/esp32/ld/esp32.project.ld.in
ERROR: failed to parse //.platformio/packages/framework-espidf/components/esp_event/linker.lf
Expected end of text, found ‘i’ (at char 0), (line:1, col:1)
*** [.pio/build/esp32dev/esp32.project.ld] Error 1
Have you tried installing different pyparsing versions, from the lower and higher end of the version range (>=2.0.3,<2.4.0)? And you did a complete project clean everytime time between them?