I can give some general feedback, though since I don't know what this thing is supposed to do it's a bit difficult.
I would echo what others have said about the ESP32 placement. I recommend reading this document, particularly the portions about placing the ESP32 module on a PCB:
https://docs.espressif.com/projects/esp-hardware-design-guidelines/en/latest/esp32/esp-hardware-design-guidelines-en-master-esp32.pdfI am not a professional PCB designer by any means, but I have done several board layouts with the TSP5430 in conjunction with an ESP32. Here's the TSP5430 layout and schematic from a recent design for a 7-12V -> 5V DC/DC converter. The actual design for the circuit was taken directly from TI's webbench power design tool, which I find pretty handy for DC to DC regulators.


I would note the continuous ground plane that connects the circuit grounds, solder pour and arrangement of parts that touch the PH net, the lack of long traces generally. Everything is as close together on the PH net as I could make it since that's where all the switching is happening. I'm trying to keep the loops where current flows into the circuit and then back to ground as small as possible. I also think the bulk input capacitance is generally better supplied via ceramic capacitors due to ESR concerns, so the electrolytic capacitor at C3 is a concern. Note that I have 3 big 1210 47uF ceramic capacitors in parallel on my design to reach the desired input capacitance.