Making ESP32 ip mesh network

I'm looking for a way to make from different ESP32 one network. Each ESP32 will be running a TCP server and would be nice to have an static IP for the TCP messages.

I have tried PainlessMesh. Only the i experienced that the network is not IP mesh based. So each nodes functions as a DHCP server and so i wasn't able to connect to a certain node if i was connected to another node within the same network. Because the DHCP server gives other IP ranges.

I have viewed ESP_MESH only could find code i could implement within the Arduino IDE. Please correct me if i'm wrong.

If anyone got a possible solution for my problem that would be nice. The only thing i need is that the ESP32 chips make one network and extend there network, and each reacting on a static ip. Cause not all ESP32 will be in range if i would setup one softAP.