I have an Esp32. What to do with analog inputs, if for example in some modules return to board 5v as 1023 and I don't want to burn the board, because the maximum for ESP32 is 3.3 v, isn’t it?
Yes it is according to the official Arduino documentation.
Other would have you believe the Pins are 5V tolerant, but don't believe them. The claim was made in an old (2016) version of the data sheet but then dropped on subsequent issues due to a flimsy excuse that could have been cleared up with a more clear explanation.
Read the misinformation here:-
To my mind, if it isn't in the data sheet it isn't true.
Remember damage does not have to be instantly fatal to a device, if is is sufficiently marginally over stressed. It is just that the device will fail sooner than it would normally be expected to.
Use a voltage divider to reduce the signal down to 3.3V, or whatever the real maximum is. There are online calculators to help you choose what resistor values to use.