Yes, there are several simulators and emulators for ESP32 chips, including the ESP32-S2. While they may not offer the full functionality of real hardware, they can be useful for testing and debugging firmware before deployment.
QEMU is a generic open-source emulator, and there is an ESP32 fork of QEMU that allows you to emulate ESP32 chips. It supports some peripherals and can be useful for running and testing applications.
Wokwi is an online simulator for Arduino, ESP32, and other microcontrollers. It enables you to create and run projects with virtual components such as LEDs, buttons, sensors, and displays.
Renode is a development framework capable of emulating embedded systems, including ESP32. It is particularly useful for running larger systems and can be integrated with Continuous Integration (CI) pipelines.
While not a full simulator, the ESP-IDF (Espressif IoT Development Framework) provides a monitor tool that allows you to debug your application via serial output. Additionally, the GDB Stub enables setting breakpoints and stepping through code. Although this is more of a real-time debugger than a simulator, it is useful for in-depth debugging.
These simulators can assist with the initial testing of your firmware or project. However, for tasks involving precise timing, Wi-Fi, or Bluetooth, real hardware is often required.