ESP-AT firmware capabilities

[dacattack]

I am currently working on a project where an ESP32-WROVER module is controlled by another microcontroller, specifically an STM32G070 (with fewer capabilities and no RTOS), via AT commands over an RS232 interface. The ESP32 runs with the ESP-AT firmware and I don't have any experience using it. My question is related to the limitations of this setup, particularly in the context of utilizing the advanced features of the ESP32.
I understand that the ESP-AT firmware runs under FreeRTOS but I'd like to know to what extent this firmware is limited. Can you create custom real time tasks pinned to core?
Is the ESP32 completely limited to the new AT command coming from the other MCU?
I assume that you can't create, suspend or delete new real time tasks with AT command, or is it possible?
Is feasable to modify the ESP-AT source code to add this capabilities?
Thanks in advance.

[ustccw]

Regarding the limitations of the firmware, I didn’t quite understand your point. Could you please elaborate?

As for task pinning to a core, if you are developing based on the AT solution, you can use xTaskCreatePinnedToCore() to specify the CPU core.