MECCANIXITY 30AWG IDC Wire Flat Ribbon Cable 2m/6.6ft Length 0.635mm Pitch 30 Pin Gray for JTAG/ISP Connecting

I'd use flat ribbon cables, the kinds that old hard drives used to use. They come in all sizes, if you can find the right connector you just snap that into your esp32 and you can split the ribbon out to various connectors. https://www.amazon.com/MECCANIXITY-Ribbon-Length-0-635mm-Connecting/dp/B0DRCNDJDS?th=1