https://github.com/AndreiVladescu/ESP32-Bit-Pirate-Dock

It supports voltages from 1.8 V to 5 V when used with the dock

I don't think there's any common 5V esp32 boards. You should be able to wire up some level shifters to connect it to 5V (or a range of other voltages). Sparkfun sells boards with a TXS0108E on it as well as simpler transistor based ones.