Bare-metal ESP32-S3
It brings the chip up — clock, watchdogs, timing, GPIO, a USB console and the four hardware buses — and then gets out of the way. Your program is the image the ROM loads, so nothing runs behind your back.
codewithamoako/esp32s3-baremetal-support-libraryRead the project
How the board boots, what the build does, and what each of the four buses can and cannot do.