Nothing nearly so drastic. Here's the kind of thing you need:
Please note that the component values in the picture are EXAMPLES ONLY. Choose a transistor that can pass enough current (and a comfortable margin) for your relay coil. Choose a base resistor that will pass enough current to fully turn the transistor on (but no so small as to exceed the amount of current you can safely ask of an ESP32 output pin).
Googling transistor relay driver will give you lots more information.