This[0] is the ESP32 module that I keep on hand. The seller doesn't list any information that would help with your simulations, but the photos can give you a rough idea of the physical size. Other than a bare ESP32 module[1] I don't think I've seen a physically smaller ESP32 board.
You can program these with the Arduino IDE, so they're quite easy to use and there are tons of libraries available for interfacing with sensors, etc.