Ensure that Wifi that ESP will be connecting to, is configure for WPA-PSK/WPA2-PSK MIXED authentication

Plug in ESP32 into USB port of computer that runs the web browser.

Open https://esphome.sthome.org in Google Chrome or MS Edge web browser

Click on Prepare for first use

On success, click on Connect Wifi

Select relevant SSD1 and enter Wifi password

sthome-ut1

ESPhome uses mDNS witch is a multicast protocol, multicast does not cross vlans.

You have 4 options:

Use a Firewall/Router that permits mDNS to cross vlans
Use Avahi reflector on a RPI connected to all vlans
On hass.io add the "status_use_ping=true"
On esphome docker dashboard use the env "ESPHOME_DASHBOARD_USE_PING=true"