Hall sensor is described in the May release of Technical Reference Manual.
Basically, it is connected to two ADC inputs (sensor_vp/sensor_vn), and there is a register which controls the direction of current through the Hall sensor.
There is a function in ESP-IDF which returns Hall sensor readings by doing 4 ADC measurements:
https://github.com/espressif/esp-idf/bl ... #L772-L777
The only related thing which isn't available now in ESP-IDF is the ability to measure the output of Hall sensor using an internal low noise amplifier. We do have an example planned for this.
Also the datasheet doesn't have the mV/mT factor of the sensor. This is something that we have on the list of things to be characterized and documented.