I can't make a specific recommendation for a DS3231 library which is compatible with the ESP32. I use an ancient hacked library myself and need to avoid using the Arduino time library (Time.h/TimeLib.h) but I hope someone else can make such a recommendation.
As for your usage of the Rinky-Dink Electronics library, can you show a sample sketch where you set the time and read the time. If you use multiple variants of the possible set time and read time methods, try to show those also.