Measure DC 0 - 10 V range with resolution of 0.1mV or higher

[johnerrington]

as @hammy says, like this

Using Operational Amplifiers in your Arduino project

8: Example 2. Amplifying a signal from a sensor when it has an offset voltage Many common sensors will produce a voltage that does not "sit" on the 0V rail, as shown in the blue line in this example. [opamp signals3.png] The green signal is too small (say 0.04V) to measure with any accuracy; however by amplifying it by 100 we get a signal of around 0.04*100 = 4V that can be measured. However the signal on the blue line is small, but has a dc offset of about 2.5V; multipling that by 100 gives…

However achieving that sort of resolution requires high quality components, and accurate design to minimise noise, with all leads screened.

I'd use an ADS1115 to measure the voltage from the op amp circuit.
Certainly not an ESP32 ADC!

Perhaps if you explained what the voltage is coming from?

You will find a lot of info about measuring voltages with an arduino here

skillbank: Experiments and projects with an Arduino microcontroller