To the best of my knowledge, the ESP-IDF doesn't provide an out of the box FTP client API or library. As such, you will either have to write one or find one that can be compiled for the ESP32. I seem to remember that there are ports of LibCURL to the ESP32 and it may be that one of them supports being an FTP client. Failing that, if it were me, I'd search Github for an FTP client package and choose one that is written in C and see if it will "port" to the ESP32 with as little fuss as possible.
Filezilla, an FTP server, allows us to "write" commands to the server, allowing us to login, create folders, delete files, download and so on. I use it to manage and version a product from a client via OTA.
My loose thinking is that an FTP server will primarily be socket server to send and receive on TCP which should be the same for Ethernet or WiFi transmission layers. A socket server should also be able to read/write files which should use posix IO APIs which should be the same for SD micro, FAT or SPIFFS.
Based on your post, I decided to have a bash at making an FTP server library on the ESP32. It is written in C++ and is working in my sandbox. I anticipate having it on a github repository in about 3-4 weeks. I'll provide samples and support at that time.
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