Okay, as someone who has used the ESP32 before (but not the STM32), I'm genuinely curious as to why you're stating this as an assertion. What exactly is it about the ESP32 that makes it unfriendly or difficult?
(FWIW, all my ESP32 development has been in C with FreeRTOS. I'm not one of those people who insists on shoving the Arduino stack onto everything.)