You haven’t explicitly confirmed or denied if you are doing this. If you are then please stop, and please don’t do it with your ESP32.
Which sensors?
Most likely, you’ll need to do what you currently do - connect GND to GND, 5v to a 5V supply and Signal to the GPIO pin of the ESP32.
It’s never advisable to use a solderless breadboard for anything other than prototyping.
You can use strip board or patch board, or design your own PCB.
I am planning of combining the 2 systems into 1 using the ESP32 (now that MEGA wifi doesn’t work well with Blynk). Hence the question about how to safely adding the motors to the ESP32.
So a perf board+soldering or an expansion board for the ESP32 is the way to go.