. In summary, this article describes how to build the xtensa-esp32 toolchains and openocd-esp32 for arm64 / aarch64 from scratch, using Raspberry Pi 4 (64-bit) and Debian-based Raspberry Pi OS. In addition, it provides instructions on how to use the xtensa-esp32 toolchains with the Arduino ESP32 v2.0.0. . The Arduino-ESP32…