Esp32 - 3.3v - wifi

I want the 5V operating voltage and ease of WIFI.
I quickly went thru some video about R4 Wifi and it is using ( correct me if im wrong ) Esp32 and Esp32 operating voltage is 3V - meaning if we use Esp 32 we can only use the 3.3V pin?
Question is, is it mandatory to use the ESP32 while using the Uno R4 Wifi ?
WHen we use wifi on Uno R4 Wifi, are we actually using the ESP32 microprocessor and thus only 3.3V pin can be used while using WIFI ?

The ESP32 is just there are a serial bridge. The code goes on yhe RA4M1 and everything works at 5V.