A good development environment for a Raspberry Pi?

I just started into developing edge drivers and have a sample wifi device working and installed. I’m feeling pretty comfortable with it, but the development process seems really… inefficient.

I’m used to developing in Thonny with MicroPython so doing this with NodeMCU and making changes, then having to push it to the device and restarting it seems like a lot more work than it should be.

Is there an easier way to develop/test both on the ESP board and hub more locally instead of having to push it all to the devices are trying again?