Better build system for embedded ESP32 development?

I recently did some development using esp32. The tools provided .. idf.py is horrible at building software. I'm kind of surprised how bad it is.

You have to use kconfig to configure esp32 components.. but you can't disable a component - it will be built even when not used.

Adding a 3rd party lib requires one to write cmake to build the library as an esp32 component.

I guess what I'm asking is what you use for building software based on esp32?

I was looking at something like the yocto build system but for embedded development. I wasn't able to find anything.