S2 & S3 need CONFIG_ULP_COPROC_TYPE_FSM=y & CONFIG_ULP_COPROC_TYPE_RISCV=y set in their sdkconfig so that the ulp libraries are available.
C6 & P4 need CONFIG_ULP_COPROC_TYPE_LP_CORE=y
Fixes espressif/arduino-esp32#9579