This in its most basic form is just a ESP32 Serial to WIFI bridge, there is a more comprehensive writeup for more info to be found on https://github.com/ParadoxAlarmInterface/pai/wiki/Connection-methods#serial-over-ip-esp32
You can also just use the prebaked egsamples on most IDE's ESp32 Eg for Serial -> wifi
Add main.cpp to platform.io or make it INI for Arduino
for Esphome you just need: You need to create a new device in esphome, and then use the details from the yaml in the esphome folder
This is a work in progress
Serial on Panel LM2956 ESP32
┌───────┐
│ Rx ┌╵ == > == > == > == > == > == > TX2
│ Tx │ == > == > == > == > == > == > RX2
│ GND │ == > IN(-) -> OUT(-) == > USB GND
│ AUX+ └╷ == > IN(+) -> OUT(+) == > USB 5V
└───────┘
If there is a lot of interest we can add an Failback with config, and release a bin for easy use.