MQTT Discovery on Arduino ESP32 - how to assign entities to a device?

I am looking for MQTT Discovery code for the arduino esp32 platform that would create a device with entities assigned to it.
Home Assistant.

Home Assistant Discovery works in such a way that you publish a yaml describing the device under a specific topic and HA adds it.
I would search on the Internet under the keyword: home assistant discovery platformio or similar. Example results:
https://registry.platformio.org/libraries/mathieucarbou/MycilaHADiscovery
https://registry.platformio.org/libraries/marcbresson/HA%20MQTT%20discovery
https://registry.platformio.org/libraries/dawidchyrzynski/home-assistant-integration
Have you tried running any of the libraries for this yet, or are you just asking for a recommendation of a good one for now?
I haven't tested any of them myself yet, but if you have a problem running one (any particular one) I'll fire up my ESP and try to help.