start dev environment using startDevEnv.sh
inside the container go into the directory ~/project
set the env variable ARDUINO_SKETCHBOOK_DIR to $PWD
build application in container in directory ~/project using arduino-cli compile --fqbn=Heltec-esp32:esp32:WIFI_LoRa_32_V3 --export-binaries /home/arduino/project/sketch/
on the host go to sketch/build/Heltec-esp32.esp32.WIFI_LoRa_32_V3 and flash device using esptool.py --port /dev/tty.usbserial-0001 --baud 921600 --chip esp32s3 write_flash --flash_mode dio --flash_size 8MB 0x0 sketch.ino.bootloader.bin 0x8000 sketch.ino.partitions.bin 0x10000 sketch.ino.bin

From Arduino IDE:

/Users/wn/Library/Arduino15/packages/Heltec-esp32/tools/esptool_py/3.3.0/esptool 
--chip esp32s3 
--port /dev/cu.usbserial-0001 
--baud 921600 
--before default_reset 
--after hard_reset 
write_flash 
-z 
--flash_mode dio 
--flash_freq 80m 
--flash_size 8MB 
0x0 /var/folders/vy/d60s0tzx3mn8bfy6ssd27hl00000gn/T/arduino_build_190148/LoRaWan.ino.bootloader.bin 
0x8000 /var/folders/vy/d60s0tzx3mn8bfy6ssd27hl00000gn/T/arduino_build_190148/LoRaWan.ino.partitions.bin 
0xe000 /Users/wn/Library/Arduino15/packages/Heltec-esp32/hardware/esp32/0.0.7/tools/partitions/boot_app0.bin
0x10000 /var/folders/vy/d60s0tzx3mn8bfy6ssd27hl00000gn/T/arduino_build_190148/LoRaWan.ino.bin