[ostenning]

> You can even change firmware to Zephyr RTOS if you want to do some low level stuff.

Zephyr (for me at least) felt quite bloated and abstracted away, probably because they need to support so many different SoCs. Albeit my experience is with the Nordic nRF downstream version of Zephyr.. The use of device-tree plus inconsistencies with the nordic api's certainly didn't help.

My experience with ESP-IDF + freeRTOS has been much more straight forward and felt much more nimble.