Hi I have How to use Esp32 and hw-130 driver shield with 28byj48 5v motor and track stars
Mechanical hardware ready electronics part ready but can't code and run my 28bjy-48 5v stepper motor, red wire disconnected Junction removed want to track stars but not even motor run for a seconds yet
The only library I've seen for that motor shield (which is a clone of an Adafruit board that they discontinued over a decade ago) is only set up to work with an Uno R3. I've heard tell of an updated version for the V4 but haven't run across it.
Seriously, that's about the worst piece of kit you could choose for any purpose. It's a dinosaur. An unsupported dinosaur. If you want it to work with an ESP32, you're going to have to code a library for it yourself.
I choose it because I thought it will run to 24byj48 motors and I will make a goto mount, but onstep firmware not designed for this shield so I am just using one motor and simple RA axis motorisized style mount, I am motor will run at a fixed speed must complete one rotation in 23H 56Min, I will now I realise I was wrong I should used uln2003 
Also, remember that esp32 logic level is 3.3V..
I removed the pwr jumper and given power to both separately
This link will help you:28BYJ-48 Stepper Motor Pinout Wiring, Specifications, Uses Guide & Datasheet
Here is a simple driver board that would work:
The ULN2003 will work as it has the following rating:
For a standard ULN2003A, the input is designed to be TTL compatible.
Typical logic thresholds are:
LOW (0): below about 0.8 V
HIGH (1): above about 2.4 V for guaranteed operation at rated output currents