This didn't actually work, I'm sorry.

I also tried some clever C assembly calling from RISC like
asm("wait 3");
And that also didn't work

I'm currently using this stupid function to wait a present amount of cycles based on the FSM docs cycles per functions:

void wait2(int cycles)
{
while ...

Spent way too long trying to find this info, so here it is for others:

I wanted to wait a certain number of cycles/microseconds so I could do SPI from the RISC-V ULP on my ESP32-S2

#include <unistd.h>
unsigned int microsecond = 1000000;
usleep(3 * microsecond);//sleeps for 3 second

I'm having a ...

There are some existing examples of this on the non-RISC ULP, which will also work for you if you're chasing functionality:

https://github.com/wardjm/esp32-ulp-i2c
https://github.com/tomtor/ulp-i2c

If you're chasing RISC-V ULP knowledge -- well... So am I.