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ESF Decoding/Encoding.
Long term project. Not a priority, so feel free to pick it up and do it yourself if you want it done sooner.
Any documents out there that explains the ins and outs of the format?
For the format, no idea, but you can check the ESF tool from PFM if you want to get an idea of what's needed.
Update on this: Since 2.6 RPFM can partially edit ESF files. Support is still missing for compressed nodes and certain formats, but it's a start.