same problem here.

on a 1:1 model in the lab, it takes several months, but once in production, the esp32 freezes every 6 hours.
I use 3 inputs and one output to control a pump.
I supply directly on the 3.3v with a dc-dc converter 12v 3.3v 2A

once frozen, the esp 32 does strange things:
when it ...