ESP32 S3 + DXL MKR Shield Mash-Up in ARDUINO

[roboteer]

UPDATE 8/9/2023:
Sorry about the delay, but with the recent Arduino ESP32 boards updates (V. 2.0.11) and ROBOTIS Dynamixel2Arduino Library V. 0.7.0, I have found that my previous sketches do not work properly anymore. So I am in the process of rechecking everything now, hardware and software - so far not successful.

UPDATE 8/12/2023:
@crk142
I recently made a thorough review of my previous hardware/software solutions and I have to say that I can’t implement them any more for reasons still unknown to me. You can see more details of my findings for the Adafruit ESP32 V2 here:

ESP32 + DXL Shield MKR Mashup in ARDUINO

UPDATE 8/12/2023 I finally got the time to review/recheck this ESP32-V2 mash-up project with the new Robotis Dynamixel2Arduino Library V. 0.7.0 and the new ESP32 Boards Library V. 2.0.11. This project was successful back in February 2023 as shown in my previous posts, but recently (6 months later) I have found that my old sketches and my prototype PCB as described in the above posts DO NOT WORK properly anymore. So, I implemented a series of steps to figure out “what really is going on”! STEP …