Should I start with Arduino IDE or ESP-IDF for ESP32 as a beginner?

If your goal is to build something real this week (sensors, WiFi, LEDs, servo, MQTT, a simple web UI), start with Arduino IDE. If your goal is to learn the ESP32 “for real” (RTOS tasks, low-level drivers, deeper debugging), ESP-IDF is the long-term tool.

Start with Arduino IDE if you want

fast progress and lots of examples
libraries that “just work” for common modules
a simpler mental model (setup/loop)

Start with ESP-IDF if you want

full control over the platform
the official stack (WiFi/BLE, power management, drivers)
better access to low-level debugging and performance tuning

A path that works (and avoids re-learning everything)

Arduino first: learn pins, voltage levels, wiring, serial debug, and basic WiFi.
Build one real project end-to-end.
Then switch to ESP-IDF when you hit a real limitation (power, concurrency, custom drivers, performance).

Beginner trap

If you start with ESP-IDF and get stuck on toolchain setup for three nights, you didn't “learn embedded,” you just learned how to fight your computer.

My quick recommendation

Arduino IDE for 90% of beginners.
ESP-IDF once you're comfortable and your project needs it.

Bottom line

Arduino IDE is the fastest on-ramp. ESP-IDF is the deeper tool. Start with Arduino, ship a project, then graduate to ESP-IDF when you have a reason.