I never liked Lua, even when doing Roblox dev. Then, I tried Lua in Pico8. I liked Pico8 very much, and I became in love with Lua as well, its simplicity.
But I tried developing in Arduino IDE for ESP as well (I’m already experienced with C). I think it’s for you to decide what to use. If you’re starting, you should use Lua. If you are used to Arduino IDE or need more control in your program, you should use it. (lol stackexchange ai autocompleted “lua” for me on the last word).