New ESP32 S3 board with IMU and 2″ screen all-in-one:

Waveshare ESP32 S3 with 2.1″ Touch Screen – that’s an absolute blast, everything is integrated on a single board covered by 2″ screen, color LEDs, IMU and you can attach camera to this one as well. Development env is Arduino IDE or ESP-IDF extension for VsCode.

Instructions are here, they also have a link to C++ examples on this page.