Esp-idf commands can be executed using:

• python, Located in: /esp32/idf-tools/python_env/idf5.2_py3.11_env/bin/python
• idf.py, Located in: /esp32/esp-idf/tools/idf.py
• esptool.py, Located in: /esp32/idf-tools/python_env/idf5.2_py3.11_env/bin/esptool.py

idf.py to be invoked as:

$ idf.py <parameters>

esptool.py can be invoked in different ways:

$ esptool <parameters>
$ python -m esptool <parameters>

idf.py --version
idf.py help
idf.py menuconfig
idf.py fullclean
idf.py build