Someone had managed to run Linux on ESP32 in 2021 [0][1]. But that's more of a proof-of-concept rather than a usable thing. Not much information besides that so far I think.
Update:
From the post [0]: someone also managed to run Ubuntu 9.04 on the board in 2020 [2].
[1] https://nuttx.apache.org/docs/latest/platforms/xtensa/esp32/...
[2] https://nuttx.apache.org/docs/latest/applications/nsh/index....