I was initially skeptical, but these days most of my ESP32s just run micropython and I write my "firmware" in Python. This includes (low-performance) callbacks

I was initially skeptical, but these days most of my ESP32s just run micropython and I write my "firmware" in Python. This includes (low-performance) callbacks for interrupts, python dicts. Because the ESP32 has nice peripherals, lots of stuff is really just using python or C as a command-and-control to enable part of the chip, like PWM. And porting Python to C++ is usually pretty straightforward.