It's there, but you have to configure a custom platform due to politics between PIO and RPI.

    rp2040:
      board: rpipico2w
      framework:
        platform_version: https://github.com/maxgerhardt/platform-raspberrypi.git#develop
        version: dev
    esphome:
      platformio_options:
        build_flags:
          - -DPICO_VSYS_PIN=29

[0] https://github.com/esphome/feature-requests/issues/2837#issu...