Ok, so I get an ESP board and flash it with the Tasmota software.
Connect the mmWave sensor to the board, using defined pins.
Ok, I maybe can modify the config to use other pins. (But at this point that's just confusing the workings)
Then I set the stuff like the WAP, password and it connects to my WAP.
Then I can configure the Tasmota side of things.
All I need to do is make sure the ESP board and the mmWave sensor talk the same voltage. (3.3 or 5) and all should be good.
Yes, you can use the Arduino IDE to do things yourself if you prefer. Or check out pre-canned firmware such as Tasmota as mentioned or something like ESPHome if you prefer.
I don't think I'd get that specific module though as it looks like it is specifically designed for the XIAO system. If not using that, you would probably need to deal with the low level protocol yourself.
HLK-LD2450 and the DFRobot SEN0395 (also known as the Leapmmw HS2xx3A series) both appear to be supported by ESPHome. And there are several how-to articles available.
No, it is an alternative if you want to have the "joy" of programming everything yourself
If using one of the supported boards (not the one you originally listed), the pins are likely pre-defined for you.
As in this example for ESPHome:
ESP32
LD2450
5V
<->
VCC
GND
<->
GND
GPIO22
<->
RX
GPIO21
<->
TX
Which makes life a lot easier.
Then yes, the firmware should take care of the rest.
The difference between Tasmota and ESPHome is that you get a lot more control with ESPHome and you typically also end up with a smaller firmware which can help with stability on ESP boards, especially the cheaper ones. Tasmota, however, is more plug-and-play. I had stability issues with Tasmota in the past but that may well have been dealt with now.
The other advantage of ESPHome (which I use with HA by the way as many people do), is that you can split your config up into small YAML modules and so reuse them in other ESP projects. That is the biggest benefit for me, along with rock-solid stability, I have many different ESP boards (both ESP32 and ESP8266) but often re-use the same sensors/controllers and, of course, have the same Wi-Fi and other standard config. You can even easily dip into custom C++ if you need something out-of-the-ordinary. But it does take a bit more to do the initial dev setup.
AFAIK, all ESP boards are supported by both Tasmota and ESPHome. ESPHome also supports BK72xx, RP2040, and RTL87xx microprocessor boards in addition to ESP32 and ESP8266,
Not sure how many sensor and controller boards are supported by Tasmota (looks like ~81), 574 are currently in the ESPHome device database.