You can adapt ESP32 built-in WiFiMulti example to see if OK for you.

You can also try my WiFiMulti_Generic Library, which is designed to help many boards, including ESP32, to connect to one of your pre-selected SSIDs with the best RSSI.

Releases v2.0.0

1. Breaking change to permit coexisting with AsyncHTTPRequest library to send and receive both HTTP and HTTPS.
1. Add example AsyncHTTP_HTTPSRequest_ESP to demonstrate how to send HTTP and HTTPS requests to multiple addresses and receive responses from them.

Releases v1.4.1

1 ...

These libraries created or updated to add support to new ESP32_S3 boards, using ESP32 core, esp32-s3-support branch, v2.0.2

The lists will be updated gradually.


Modified Libraries



1. ESP_DoubleResetDetector . From v1.3.0
2. ESP_MultiResetDetector . From v1.3.0
3. ESP_WiFiManager . From ...

AsyncHTTPSRequest_Generic Library

How To Install Using Arduino Library Manager


Why do we need this Async AsyncHTTPSRequest_Generic Library

Features

1. Asynchronous HTTPS Request library for ESP32, ESP32_S2, ESP32_C3 using built-in WiFi.
2. Providing a subset of HTTPS.
3. Relying on on ...

AsyncTCP_SSL Library

How To Install Using Arduino Library Manager

The first AsyncTCP_SSL Library of the Async_SSL series of libraries for ESP32, ESP8266, STM32, Portenta_H7 etc. has been published. Some more will follow shortly


Features

This library is based on, modified from:

1. Hristo ...

My task is, to control four brushed motors with PWM.


I'm sorry I don't know and can't help, and I'm afraid nobody can know and help with that kind of info.

You have to read / understand the motor specs, and know if PWM can be used for them, then which is required PWM frequency / duty-cycle, and ...

Have a look at these examples

Simple

1. HelloServer
2. HelloServer2

Complex

3. AdvancedWebServer
4. ESP32_FS_EthernetWebServer

ESP32_PWM Library
How To Install Using Arduino Library Manager


This library enables you to use Interrupt from Hardware Timers on an ESP32, ESP32_S2-based board to create and output PWM to pins .

It now supports 16 ISR-based synchronized PWM channels , while consuming only 1 Hardware Timer ...

I'm using Python 2.7.18 (default, Mar 8 2021, 13:02:45) and esptool_py v3.1.0 and the following is the Arduino IDE uploading commands


Sketch uses 232542 bytes (17%) of program storage space. Maximum is 1310720 bytes.
Global variables use 10436 bytes (3%) of dynamic memory, leaving 317244 bytes ...

FYI, Problem still persists in ESP32 Arduino 2.0.0 RC2 and Arduino IDE 1.8.15

After reupload with ESP32_DEV


xx⸮xxxx⸮⸮x⸮⸮x⸮⸮x⸮⸮x⸮x⸮xx⸮⸮⸮⸮⸮⸮x⸮⸮xxxxx⸮⸮x⸮xx⸮⸮⸮⸮⸮⸮⸮x⸮⸮⸮⸮⸮
ESP-ROM:esp32c3-api1-20210207
Build:Feb 7 2021
rst:0x1 (POWERON),boot:0xc (SPI_FAST_FLASH_BOOT)
SPIWP:0xee
mode:DIO, clock div:1 ...