Support for the S2 should not be that difficult, because the ULP in the ESP32-S2 has only a slightly different binary format than the ULP of the original ESP32.

(Note the S2 has both a RISC-V based and FSM based ULP - this issue is about adding support for the FSM based ULP)

When implementing this, we should ensure that we have a clean and clear way of selecting which ESP32 variant to use as the target.