Ah, I just tried this and found a caveat that prevented it from working, at least for me.
the REQUIRES main had to be deleted, otherwise it would be giving me “failed to resolve component main” errors.
So, a standard project with Espressif32 Dev module + ESP-IDF + adding lvgl in the components/ folder makes the configuration appear in pio run -t menuconfig.
The src/main.c code
#include "lvgl.h"
void app_main() {
}
will initially show a include error at lvgl.h, but after one compilation, which is successfull, and a Ctrl+Shift+P → Rebuild IntelliSense it goes away.

