Modifying Arduino ESP32 setup with menuconfig

Exactly. When using framework = arduino, you are using a precompiled version of ESP-IDF that you cannot change. menuconfig works only for ESP-IDF projects.

Not available since not a ESP-IDF project.

Arduino-ESP32 is an extension on top of ESP-IDF (technical details: Using esp-idf library within the Arduino Framework (ESP32)) – you can actually start with an ESP-IDF project, activate the Arduino component and then write normal Arduino code while still having a fully configurable ESP-IDF base. The arduino-espidf-blink example shows just that. You should first try and clone this project to see if you can build it normally, then you can start making modifications to it as per docs.

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