Since the MB03+ includes both DivIDE and DivMMC hardware, ESXDOS for both devices is installed in the firmware and ready to run. Press "2" or "@" after booting to run ESXDOS.
There is also a MB03+ IDE/MMC flasher in the latest ESXDOS archive as well as in the newest MB03+ firmware (named MB03PLUS.TAP and 2-Esxdos.tap).
Z80DMA support was added into the kernel of the ESXDOS v0.8.7., a driver for I/O operations, configurable via a config file.
You could enable DMA support by setting "DMA=1" in the file /SYS/CONFIG/ESXDOS.CFG.