I run everything on headless RPi's so I want a completely CLI tool chain. I flash the esp with esptool and then from there I used rshell + vim. The only drawback (so far) is package management, I have had some struggles on occasion there. For the most part you can just copy a library directly to the esp32 using rshell, and there is a upip module that might be useful but at least once I have had to connect my board to my main computer and use thonny to get a package.
Anyone else find a better solution?