Tasmota has drivers for almost anything you'd imagine. Adding I2C or OW sensors for instance is mostly plug and play. If you wired them correctly and used tge appropriate image they would just work. Berry is an addon scripting kanguage that runs on a VM. It's only present in the ESP32 dev branch.

Zephyr is nice and well documented but support for ESP devices is quite lacking. For NXP devices it's great.