I thought this would be something you would be interested in. I am currently working on exposing FreeRTOS to the Python interpreter in MicroPython. This would allow for you to have real threads and also provide access to real parallel processing by being able to set "threads" to specific cores on the ESP32 modules. You would need to disable the GIL (Global Interpreter Lock) in MicroPython for it to work so care has to be taken to properly control access to data objects from different "threads".

Thought you might be interested in something like that considering the scope of this project.