I have a TJC HMI display similar to Nextion. It communicates with the ESP32 through UART. The display operates at 5V, but the specification table indicates that the Tx and RX pin voltages are 3.3V, which is acceptable for the ESP32.
Before connecting the display to the ESP32, I checked the voltage using a digital multimeter (DMM). The yellow wire corresponds to the RX pin, which is currently showing a 3.28 voltage reading. Which seems to be Okay