The ESP32 has got several MMUs. The characteristics are different depending on the part that a given MMU accesses (flash, ROM, SRAM, external memory).
Some things are accessed using Memory Protection Units instead, which control access by Process ID, but don't do mapping. Others including some of the SRAMs are accessed through
an MMU that can do virtual to physical mapping. The MMUs for internal SRAM0 and 2 choose protection for a given physical page as none, one or all of PIDs 2 to 7, with the virtual address that
maps to it. PIDs 0 and 1 can access everything. PID 0 can execute privileged instructions.
A large chunk of SRAM (SRAM 1) has only Memory Protection and no translation. The external memory MMU is the most general (most conventional).