USB D+ and D- pins voltage tolerance

[muse95]

Hello,
The ESP32-S3-MINI has pins that default to D+ D- usb signals (GPIO19, GPIO20). I was looking at the schematic for the Arduino UNO 4, and it has the USB-C connector signals going to either the micro, or the ESP32, depending on an analog switch setting. The analog switch is powered by 5V, but I don't know if that changes the voltage on the D+ or D- lines. As well, the bus voltage on a USB-C connector is generally 5V.
I am looking to lay out a similar design in my project. I want to use a different ESP32 option than the UNO 4 uses, so I can't just buy an UNO 4 and drop it in.
Are there any concerns with routing these D+ and D- outputs directly into the ESP32 with its 3.3V tolerance, either through the switch like the UNO 4, or directly from the USB-C connector?
I am not super knowledgeable about what voltage D+ and D- signals from a USB connector are expected to be.
Are these pins on the ESP32 tolerant of a slightly higher voltage?

[Sprite]

The USB pins are designed to be directly connected to USB signals, so either connecting them directly or through a capable enough analog switch should pose no issues.