Yesterday I did a presentation about how we use TDD and CI at my company to improve the development cycles of our embedded systems. I've published the code I used for the event in GitHub, which consists of a boilerplate for using TDD on a ESP32-based project (and ESP-IDF) with some examples of unit tests. You can check it out here: https://github.com/kien-company/esp32-tdd-boilerplate
I would really like to get your feedback, and of course, feel free to use it on your own projects!