See ESP32 Mesh - Platform in Platform IO includes ESP-MDF.
2 years ago I ported the current version of ESP-MDF to be PlatformIO compilable. It wasn’t very hard though – I just put all the folders in compontens from MDF into the lib/ folder of the project and added a basic library.json to it. Then added configuration macros in the platformio.ini.
Today, this should be much easier, since PlatformIO natively understands the CMake configuration system of ESP-IDF. It should be as easy as taking the current compontent folder, copying that into the project’s component folder (example) and configuring it with menuconfig. Might additionally need the partition table again from the current example, but not much more.