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To install the correct upstream esp-idf version the env variables need to point to the full version tag.
Note: ESP_IDF_VERSION "v5.1" is a different release than "v5.1.1"
Release Notes:
v4.4.6 https://github.com/espressif/esp-idf/releases/tag/v4.4.6
v5.1.1https://github.com/espressif/esp-idf/releases/tag/v5.1.1