Is there a ESP32-IDF OTA working example?

Does anyone have a working ESP32-IDF OTA working ?
I have the Arduino example working, but I do not want to use Arduino.
I’m looking for a way for me to push an update to the ESP32. I do not want it to connect to some server somewhere and check.

I have tried that and it does not compile.

Do you mean that it does not work with PlatformIO or with Arduino IDE too?