Using native esp-idf components

**Describe the problem you have/What new integration you would like**

Option to use native ``esp-idf`` components in ``ESPHome`` project.

**Please describe your use case for this integration and alternatives you've tried:**

I need to use native ``esp-idf`` components, but there is no such possibility yet. It would be nice if there was an option like ``libraries`` that either copied the components specified in YAML to the project's optional ``components`` folder in build directory, or used the ``EXTRA_COMPONENT_DIRS`` option in the root ``CMakeLists.txt`` file. These 2 ways are [currently supported](https://docs.platformio.org/en/latest/frameworks/espidf.html#esp-idf-components) by ``Platformio``.

**Additional context**

Start by reviewing how ESPHome projects are configured through YAML and how PlatformIO supports ESP-IDF components. Compare copying components into the project's optional components folder with using EXTRA_COMPONENT_DIRS in the root CMakeLists.txt. Done means a YAML-configurable option supports native components through one of these documented approaches.

Written by the indexing model from the issue text.