Your best solution would be to use a Pyboard D.
The bridge is designed for the ESP8266 because, at the time I wrote it, the ESP8266 was considerably cheaper than the ESP32. If I were designing a bridge using ESP32 I would use a UART for communication between the Pyboard and the ESP. The bitbanged interface was a workround for ESP8266 which only has one fully functional UART; I wouldn't use it with any other chip.
I do not plan to port it to ESP32. The Pyboard D is an excellent way to get MQTT to STM. The bridge is a way to get MQTT to the Pico, but boards with RP2 and WiFi exist and will be supported by MicroPython. My view is that the bridge is obsolescent.
Wifi bridge for RPI Pico
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Re: Wifi bridge for RPI Pico
Peter Hinch
Index to my micropython libraries.
Index to my micropython libraries.