The library you are referring to requires Espressif32 Arduino 3.x
Unfortunately PlatformIO officially only offers Espressif32 Arduino 2.x.
Use the community fork pioarduino to get Espressif32 Arduino 3.x:
platform = https://github.com/pioarduino/platform-espressif32/releases/download/53.03.11/platform-espressif32.zip
With this platform, the Hello World example compiles without any issues.