Can we use ESF without enrolling to Apple Developer Program?

Is it possible to use ESF framework without enrolling into Apple developer program?

Probably. Endpoint Security is gated by an entitlement but, if you disable disable SIP, you can then set a boot argument to also disable entitlement checking.

IMPORTANT DTS doesn’t support development with SIP disabled [1].

Having said that, are you familiar with eslogger? If you’re just exploring, that may be sufficient. See the eslogger man page for details.

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Quinn “The Eskimo!” @ Developer Technical Support @ Apple
let myEmail = "eskimo" + "1" + "@" + "apple.com"

[1] … in general. In specific circumstances we make exceptions that that general rule. This isn’t one of them (-: