Ruslan V. Uss collected some fine sensor libraries for the ESP32 into a single repository on GitHub. They are compatible with the Espressif ESP32 ESP-IDF framework and most of them have been ported from the esp-open-rtos project.
It’s a kind of a standard library for the ESP32 with a scope on reading from interfaces and sensors.
As some of the libraries from the Arduino ecosystem are of PHP-like code quality (no offense here! ;]), I would strongly encourage you to try them out if you are building a firmware which does not have to be compatible with Atmel/Microchip AVR MCUs.
The components listed here should blend well with the Arduino core for the ESP32, so there should be no need to introduce another toolstack or SDK.