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Good afternoon KMN.

The datasheet for the ACS723 specifies a minimum operating voltage of 4.5 volts so it won't work correctly at 3.3 volts. You'd need to power that with 5 volts and then scale the output of the ACS723 with a voltage divider to no more than 3 volts to prevent damaging the ESP32.
(see this page for an explanation why you don't want to exceed 3 volts on a ADC pin)