You should never post in the ESP32 section unless you have a real Arduino brand ESP32 product. For all other versions post in a more relevant category.
Therefore I have moved your post here.
You might want to look at this How to get the best out of this forum before you proceed any further.
As to your problem this is the typical behavior of any processor to motors. The solution involves better supply decoupling.
See this:-
As well as cutting down the emissions from the motors. For example do they have flyback diodes on them?
We only know what you tell us, and without knowing what you have, we don't stand a chance.