I don't know if anyone besides me is using Pd on Espressif ESP32 boards but in case it's useful I've updated it to work with Pd 0.51-1. It's on msp.ucs.edu/ideas/ . I'm currently getting it to run on generic ESP32 boards (which cost about $10 but you have to hook up your own audio I/O hardware). It should be adaptable to the LyraT boards ($20-ish) - the previous version worked on those but I haven't tested the current version for them yet. This is all working toward an upcoming performance with Kerry Hagan so there are likely to be changes and fixes coming along soon.
cheers
Miller