Which GCC/G++ version does ESP-IDF v5.5 use?

ESP-IDF v5.5 uses GCC version 14.2.0

gcc version 14.2.0 (crosstool-NG esp-14.2.0_20241119) 

You can check yourself by loading the ESP-IDF environment and running:

xtensa-esp32-elf-g++ -v