I have also seen such statements
however, I would only input 5V signals to microcomputer GPIO pins which are stated in manufacturers datasheets as being 5V tolerant, e.g. some PIC24s, STM32s, etc
I have not seen any Espressif datasheets stating that ESP32 GPIOs are 5V tolerant
3.3V input devices may work with 5V signals for a couple milliseconds, 10 seconds, an hour, a day or for ever or may die immediately