This[0] is the ESP32 module that I keep on hand. The seller doesn't list any information that would help with your simulations, but the photos can give you a rough idea of the physical size. Other than a bare ESP32 module[1] I don't think I've seen a physically smaller ESP32 board.
You can program these with the Arduino IDE, so they're quite easy to use and there are tons of libraries available for interfacing with sensors, etc.
I've used TinyPICO Esp32 modules. They're even smaller than D1 Minis! They lack the metal cover, though I don't quite know what that's for (mumble EMI?).