ESP32 Forum

I am currently looking into establishing a serial connection between two esp32 devices and would like to use the point-to-point protocol.

I took a look through the esp-idf pppos example which is a client based program, but I was wondering if anyone has done any work with configuring the esp32 to be a pppos server

Yes, see my fork of the esp32-at repository here:
https://github.com/ep00ch/esp32-at-ppp/
which includes new commands like : AT+PPPD
If you include PPP_SERVER support in the configuration, it will compile and run as a server, otherwise a client.