Hi prasimix,
Indeed the layout is not optimal at all. This was done quickly (I remember that it took half a day) and there are many things to improve (the diode could be a little closer to the IC, the inductor closer too, and many other things). Anyway, this is just to prove the concept, and actually the board works really well. The ESR imposed by the PCB seems not to be very relevant.
Anyway, the capacitors should have priority over R3 and the remaining control circuitry, which in this case wasn't done. Ideally, C6 and C7 should be right next to the inductor, and R3 should be after the second capacitor, and not in between them. R4 should not be close to IC1, as it doesn't have priority over C2, C34, C4 and R1.
Note that, in the TPS54233 datasheet, the feedback is taken from Vout after the filter capacitor, and loses priority over the remainder of the components. They even use a long feedback trace. The feedback network is closer to GND and near the IC, but de-prioritized over the compensation filter components. In a sense, these components should be near the IC, but as close as possible without moving any other components.
Kind regards, Samuel Lourenço