When I wrote about a DIY ESP32-S3 internet radio last week, "raspbeguy" commented he'd rather choose an ESP32-based DIY DAB+ ...
Pins 4/5 and 6/7 are swapped in bus_bridge_encoders_sonar (Rev. C) and dual_slot_encoders (Rev. D). [Swapped 4/5 and 6/7.] ...
const int encoderPinsA[NUM_ENCODERS] = { 10, 8, 6, 4, 2 }; // Encoder A pins; any PCINT pin const int encoderPinsB[NUM_ENCODERS] = { 11, 9, 7, 5, 3 }; // Encoder B pins; arbitrary - pick any IO #ifdef ...