I have attached few pics for pin connections.
No, you didn't.
Pin connections:
MPU VCC = ESP32 VCC 3.3v
MPU GND = ESP32 Gnd
SCL = SCL (Pin 22)
SDA = SDA (Pin 21)
What pull-ups are used? Maybe the breakout board includes them but you didn't tell us (link) what board you're using. There are probably several dozens of boards available all using the MPU6060.
You also forgot to use code tags to make your code readable (that's the </> button in the editor).
while (Wire.available() < 6);
Such lines of code are a nightmare to debug. You didn't check the result code of the Wire.requestFrom() call but risk an endless loop if the chip didn't return the 6 bytes you expect it to do. Delete those lines as it only freezes your MCU if there is a problem on the I2C bus but doesn't do any useful task. If Wire.available() is not equal to 6 when you enter that loop, it will never be.