The suggestion in the topic linked to was to revert to an earlier version of the ESP32 board files rather than an earlier version of the library files and it contains an explanation of how to do it
Resolution
The easiest solution will be to use a version of the "esp32 " boards platform that is compatible with the ESP32Servo library.
The breaking changes in the "esp32 " boards platform were introduced in the 3.0.0 release, so you won't have these problems compiling the library if you install an older version of the "esp32 " platform.
Select Tools > Board > Boards Manager... from the Arduino IDE menus.
The "Boards Manager " dialog will open.
Wait for the updates to finish, as shown by the messages printed at the bottom of the "Boards Manager " dialog.
Scroll down through the list of boards platforms until you find the "esp32 " entry. Click on it.
A "Select version " dropdown will appear in the entry.
Click on the "Select version " dropdown.
It will expand.
Select "2.0.17 " from the menu.
Click the "Install " button in the "esp32 " entry.
Wait for the installation to finish.
Click the "Close " button on the "Boards Manager " dialog.
The "Boards Manager " dialog will close.