The most reliable way to do this is to setup a proper DNS host name in your local WiFi router (most routers have point-and-click interfaces for this). Every device in your home/office/wherever should have a proper (preferably short) host name. To hell with typing 192.168.1.whatever into your browser just to get to your cam!
Failing that, hack the IP address into your system's hosts file. A few seconds later you can access your ESP32 at
or whatever. Quick and dirty, yes, but the local hosts file is usually also the first place a system will look to match a host name; so quick and
quicker.
Next would be the ESP32's built-in AP (again, it's worth keeping
(use your own host names, of course) in your local hosts file at all times, cuz why not?
And lastly,
maybe, mDNS.