This was super simple to get integrated with menuconfig and compiling.
Simply run:
git submodule add https://github.com/lvgl/lvgl.git components/lvgl
git submodule add https://github.com/lvgl/lvgl_esp32_drivers.git components/lvgl_esp32_drivers
Because the ESP build system adds all components found in the COMPONENT_DIRS directories by default, no extra cmake include nonsense is necessary.
Note: I had to pin lvgl_esp32_drivers to the develop branch because main wasn't working.