Espressif's ESP32-P4 revision 3.0 and greater converts pin 54 of the chip from NC (non-connected) to a power rail (VDD_HP_1), ...
If you use the Arduino IDE to program the ESP32, you might be interested in [Andreas Spiess’] latest video (see below). In it, he shows an example of using all three ESP32 UARTs from an Arduino ...