There are no end of ESP32 dev boards but if you're new to working with MCUs I'd always recommend starting with something from Adafruit or Sparkfun. They just have way more documentation and support.
So I'd go with something like an Adafruit ESP32 Feather [0]. Sure it's super impressive that one can pick up a perfectly functional anonymous board on eBay for almost nothing but, for getting started, $20 for something from Adafruit will save you a lot of initial hassle.
MicroPython on ESP32 [1].
MicroPython specifically on the Adafruit ESP32 Feather [2].