I was able to get this working. My setup:
ESP32-32 WROOM-1
Waveshare 2.4" LCD ILI9341 Controller
SCLK_PIN GPIO_NUM_12
MOSI_PIN GPIO_NUM_11
DC_PIN GPIO_NUM_2
CS_PIN GPIO_NUM_15
RST_PIN GPIO_NUM_4

Baudrate 9600 (I have set this as high as 256000 without issue)

I used the Adafruit Gfx library