Because building this docker image takes about 30-90 minutes, I am providing a ready-to-go docker image that is already built.
Download this docker image by running: sudo docker pull tavk/esp32-sdk:0.1.0
More information on this image: https://hub.docker.com/r/tavk/esp32-sdk/
You need Docker to download this and use this. If you don't have it yet, here is a nice guide: https://docs.docker.com/engine/installation/linux/