OK, I don't remember how did I sort it out last time, but now I have ran into the same problem again when I made a fresh new install of Big Sur. I am still not able to send the compiled sketch into the ESP through the ArduinoIDE, however I have managed to get it work with the help of external tools completely independent of Arduino software. I did use makeEspArduino tool from Peter Lerup (plerup). At the beginning I was running into the same issue, however I have soon discovered it is very important how you install the Python libraries (if is it as a root user or a regular user). Basically it means, that the problem is in the rights. ArduinoIDE is running processes under the different user than it did install libraries. Till now I am still not able to get it work over ArduinoIDE, but fortunately solution from Peter works well. It is a few more steps to do before upload can be performed, it is not as streamlined as ArduinoIDE, but IT IS WORKING! I am now thinking about letting the ArduinoIDE be as it is, don't worrying about it, forget it and use different approaches where I have way more control over what and how is being done than rely solely on something what is doing it's stuff on the background and spits error after error on me. The worst thing is that no-one even replied on this issue for more than two months now. How are you supposed to work with that?