From what? From IDE 1.x or from IDE 2.x (2.3.2?)?
Was that the only upgrade or did you also upgrade the board package and/or libraries?
Which operating system are you using.
What you can try is to downgrade the ESP32 board package in case that was also upgraded. If that works, you can upgrade it again; if that upgrade fails it has something to do with the board package.
Further I can't really help; here are some search results: esp32 thread 'main' panicked at 'assertion failed: (left != right) - Google Search
Note:
This might be IDE 2.x related (though not directly) and not hardware related and hence your topic has been moved to the IDE 2.x section of the forum.