No, but Arduino runs on the second core and the Wifi and other things on the first core of the ESP32. I assume that the strtok() is not used in the first core. If no other tasks are created, then the sketch runs in one task and strtok() is safe to use.
However, if a few tasks are created in the sketch and each task uses strtok(), then trouble can be expected. The strtok() stores the position locally to be able to continue from there the next time.
Here is an example of the source code with the local 'static' variable: https://github.com/lattera/glibc/blob/master/string/strtok.c