I have successfully been able to connect the ESP32 to the Firebase and upload the realtime database.
But I am getting no examples and clue as how to upload the data to the Firestore.
Can someone please guide me.
This isn't really an Arduino question and I'd be surprised if you get a response here. The first time I heard about Firestore was today and at first I thought it was a typo - now I know better.
I suggest that you work through the API docs and try to get something working in a C++ program on your PC, where you have better debugging tools. When you can do that, try porting it to the ESP32.
If you do get it working, please post what you did here to celebrate your success 
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