You could probably directly program your LO synthesizer via I²C to do the FM for you directly at the RF frequency, just the way you probably are reprogramming the timer/PWM unit of your ESP32 ;)
But yeah, that'd be significantly more work, and probably much harder on the ESP32 to generate the I²C messages, up to the point where it becomes infeasible. But yeah, as long as you have something that directly produces a \$f_{\text{RF target}} - f_{\text{intermediate}}\$ oscillation, you should be able to directly multiply the two using an SE612/SA612/NE602….
In such purely digital applications, however, it's not rare to use a chopper mixer at an integer fraction of the target frequency, and filter out all but the desired harmonic; if your ESP32 can produce a stable 33 MHz or 20 MHz rectangle, you could consider using that, and a simple switch IC plus analog bandpass filtering to achieve your mixing.