I just wanted to update that I finally got it working.
I uninstalled v4 of the Silicon Labs VCP driver (using the uninstaller.sh script from the zip file below). Then installed the latest driver from this file:
https://www.silabs.com/documents/public/software/Mac_OSX_VCP_Driver.zip
I did not install the legacy driver. I used "Silicon Labs VCP Driver.pkg" from the main directory of the zip file.
Next, I had to do a fresh install of the Arduino IDE 1.8.5, then followed the same instructions here: https://github.com/m5stack/M5Stack/blob/master/docs/arduino-ide/mac.md
After I restarted the Arduino IDE, I now saw the M5Stack-Core-ESP32 listed under the Tools > Boards > ESP32 Arduino menu. No need to do anything with the Boards Manager.