[Rafael] just made a little library that allows you to interface these modules to the Atmega328p-based Arduino UNO in order to gain some memory space.

In case you missed it, the big news is that a minimal Arduino core is up and working on the ESP32. There’s still lots left to do, but the core functionality — GPIO, UART, SPI, I2C, and … ...

Unfortunately, if you search for the library in Arduino Create and include it, all the UPM sensor libraries will be included, and you probably only need one or two.