If you use the Arduino IDE to program the ESP32, you might be interested in [Andreas Spiess’] latest video (see below). In it, he shows an example of using all three ESP32 UARTs from an Arduino ...

Created by the parts supplier and Arduino tutorial creator Adafruit, the camera is built using an Arduino, an Eye-Fi Wi-Fi SD card, a TTL Serial JPEG camera, and a few other parts.

Even if you don’t need a camera, the price is low enough and you get some interesting benefits like the increased range. If you want to put an ESP32-Cam on wheels, check this robot out.