Espressif has provided a tool to simplify building your own compiled libraries for use in Arduino IDE (or your favorite IDE). To use it to generate custom libraries, follow these steps:
git clone https://github.com/espressif/esp32-arduino-lib-buildercd esp32-arduino-lib-builder./tools/update-components.sh./tools/install-esp-idf.sh(if you already have an $IDF_PATH defined, it will use your local copy of the repository)make menuconfigor directly edit sdkconfig../build.sh
The script automates the process of building arduino as an ESP-IDF component.
Once it is complete, you can cherry pick the needed libraries from out/tools/sdk/lib, or run tools/copy-to-arduino.sh to copy the entire built system.
tools/config.sh contains a number of variables that control the process, particularly the $IDF_BRANCH variable. You can adjust this to try building against newer versions, but there are absolutely no guarantees that any components will work or even successfully compile against a newer IDF.