Someone had managed to run Linux on ESP32 in 2021 [0][1]. But that's more of a proof-of-concept rather than a usable thing. Not much information besides that so far I think.
Update:
From the post [0]: someone also managed to run Ubuntu 9.04 on the board in 2020 [2].
[0] https://www.cnx-software.com/2021/07/18/linux-5-0-esp32-proc...
[1] https://www.esp32.com/viewtopic.php?t=2681
[2] https://old.reddit.com/r/esp32/comments/dtlj7n/booting_linux...