If you want to know more about how to work with the ESP32 chipset and setting up the whole toolchain, you can find a lot of online literature showing you how to do it: just take a look on the internet and you shouldn’t have any difficulty finding everything you need.
Below are some reference links:
Espressif website
ESP32 GRBL porting reference site
https://github.com/bdring/Grbl_Esp32