DS5160 SSG Servo Motor (MCPWM)

[Gitprodenv]

That reminds me: Are the servo's and the ESP's GND connected together?

No. I have a separate power supply for each:
An external power supply connecting the ESP32 with 5V + GND.
And another power adapter with 7.4V connected with VCC and GND to the servo.

[MicroController]

No. I have a separate power supply for each:
An external power supply connecting the ESP32 with 5V + GND.
And another power adapter with 7.4V connected with VCC and GND to the servo.

Then that's your problem. You must provide a common GND to both the ESP and the servo.

[Gitprodenv]

This was the issue. Haha finally I made it.
I almost declared this project a failure

Thx a lot @MicroController

[MicroController]

Glad you got it working
Good luck with your project!