I haven't. To be honest, I've used the esp8266 a lot and am very familiar with it, plus there's mavesp ready to go... I started on the esp8266 when it just came out and suffered through all the pains WRT bad docs, bad SDK, bugs, etc. When the esp32 came out I decided I wasn't going to deal with the esp32 until I either desperately needed it or the bugs were worked out. I have the feeling that for this project the esp8266 is going to work just fine :-).
I did take dagar's comment to heart and have ripped up the PCB layout I had and dropped an stm32 in there to talk to a telemetry port on the pixracer and to the LoRa radio. This way the Wifi part and the LoRa parts are completely independent (just on one PCB for convenience). At the ground station it should be possible to cross-connect the two ports to make a LoRa-Wifi gateway.