Is it possible to control 18+ servos directly from esp32?

[Jingaa]

Hello. I'm trying to make a hexapod using mg996r servos and at first I went the standard way using two PWM pca9685, but due to the fact that these boards have a power supply limit of 5.5 v, and mg996r has 7.2 v - I lose a lot of torque and so I will make the power supply separately. As a result, it turns out that I have 2 pca9685 boards in which I use only 1 contact out of three.

My question is - can I directly connect the pwm contacts of all 18 servos and 6 sensors to the esp32 or does this solution have any serious drawbacks?

Thank you.