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Possible use of ESP32 instead of HC-05 for OTA?

Hello!
Thank you for all your work on this, the results are very impressive. Do you think it is possible to replace the HC-05 you use in your setup to an ESP32? My eventual goal is to send my .bin file over Wifi to the ESP32, then have it flash a Teensy4.1 with that new program. If it is possible, what would the code need to look like on the ESP32 to make the OTAs happen?
Thanks for all your help.

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