Communication between two esp32

I have projek, PID control flow, 1 esp for transmit sensor data to another so that the other esp32 can control the motors and stuff

Nice project.

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Blynk legacy (the old one) or IOT (the new one) ?

I have successfully done this with UDP. I have also used TCP. I have 10 nodes that UDP to a single ESP8266 that communicates with Blynk.

I use the library WiFiUdp.h and use JSON encoding to send the data back and forth using Arduino_JSON.h library.

New

Have you looked at Automations?

https://docs.blynk.io/en/concepts/automations

Pete.