I've found this circuit : http://www.instructables.com/id/DIY-Motor-Driver-With-ESP32-Controller/
And did you notice a schematic in that article?
No, and that is a sure sign that the writer of that instructables, like virtually all the electronic projects on that site, has not got the slightest clue as to what they are doing.
Basically if you treat all electronic instructables as total crap then you won't go far wrong.