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Adding Contributed Libraries
The beauty of Arduino platform is that there are contributed libraries available for most peripherals. All you need to do is to Google.
To add a .zip file, Sketch > Include Library > Add .ZIP Library > select the .zip file.
Alternatively (if the library is unzipped), copy the folder to Documents\Arduino\libraries.
After including the library, the path has to be exactly as shown below Documents\Arduino\libraries\<lib_name>\<lib_name>.h/.cpp files.
Restart the Arduino IDE after adding the library.
You can see that the library at Sketch > Include Library.
Many libraries come with example programs, which can be your starting point. The example programs can be found at File > Examples > Examples from contributed libraries.
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Adding Support for Boards
To add support for ESP32, go to File>Preferences>Settings>Additional Board Manager URLs, copy-paste https://youtube.com/watch?v=geh6U5SLdOQespressif.github.io/arduino-esp32/package_esp32_index.jsonLinks to an external site. and click OK. Next, go to Tools>Board>Boards Manager. In the search window that comes up, type in “esp32”, and click Install. This will take a while.
Support for other boards that have support for Arduino IDE can be done in a similar manner, with the appropriate .json file.