Update:
After using the FTDI module and powering it with a lab power supply, I still had the same problem, but I noticed this line. 
assert failed: tcpip_api_call IDF/components/lwip/lwip/src/api/tcpip.c:497 (Invalid mbox)
So, I checked the libraries and realized they had been updated to the latest version, which was causing a problem with the code, this is why it wasn't working.
For this case, the versions of the libraries that worked well for me were the following:
Async TCP by ESP32Async - 3.3.2
ESP Async WebServer by ESP32Async - 3.6.0
Reviewing information I noticed that some commands change between versions 2.x and the most recent one, which is 3.0 documentation
Board:
esp32 by Espressif Systems - 2.0.16
Thank you very much for the help. The FTDI module made it easier for me to program it.