ESP32 Bluetooth w/ HC-05

My project does not include a phone in the final. Regardless, I am following Task 12.3.

I am able to use the AT Commands with the HC-05 module and set the Arduino Uno as a master. But the AT commands are not working with the ESP32 board. I tried multiple baud rates too, including 9600, 38400, 115200, and 921600. For reference, I am using the Servo Driver with ESP32 from Wavehshare: https://www.waveshare.com/wiki/Servo_Driver_with_ESP32#ESP32_Flash_Download_Tool

Is there a different way to set up AT commands on an ESP32 board?