Options for ESPHome platform/hardware

I’m looking to “formalize” or align my HA hardware setup to what is considered best practice in the near future. Currently, I’m using a Raspberry Pi 4 with an SD card; want to move to Odroid-N2+ with eMMC for better stability, capacity, and reliability (looking at you, SD card…).
What’s motivating this thread is my integration to my home security system - I’m using wires from the “contacts” in that box, with voltage level converters, connected to the Pi GPIO to make HA aware of the state of doors and motion detectors.
Part of the recommendation with the move to Odroid is to not use GPIO on that platform but instead use ESPHome. What I’d like to know is what options are on the market for a small, self-contained, no-breadboard-required ESP platform that can monitor 4 GPIO levels and update HA in place of my current setup. Is there anything available that’s just a little box with a handful of screw terminals or header pins that just needs power and GPIO connected to function but isn’t some kind of development board?

Right now, I’m looking at something like Adafruit HUZZAH32 (Adafruit HUZZAH32 – ESP32 Feather Board : ID 3405 : $19.95 : Adafruit Industries, Unique & fun DIY electronics and kits) with a breakout board (Assembled Terminal Block Breakout FeatherWing for all Feathers : ID 2926 : $14.95 : Adafruit Industries, Unique & fun DIY electronics and kits) and some kind of 3D printed enclosure but I’d like to explore any options that might be floating around.