As part of the toolkit a Python build environment will be installed at the following location:

cd ../esp32/idf-tools/python_env

ls
/idf5.1_py3.11_env
/idf5.2_py3.11_env

The Python executable is linked to the one installed at /usr/bin/python

ls -al ./idf-tools/python_env/idf5.2_py3.11_env/bin# ls -al | grep python
lrwxrwxrwx 1 oscar oscar    15 Jun  2  2024 python -> /usr/bin/python
lrwxrwxrwx 1 oscar oscar     6 Jun  2  2024 python3 -> python
lrwxrwxrwx 1 oscar oscar     6 Jun  2  2024 python3.11 -> python

Esptool is installed as a component in:

../esp32/esp-idf/components/esptool_py/