Let me offer my 0.02USD on this point…
Depending on the number of ESP32s you’re willing to put into the system and the architecture, this can be a lot. You could, if you can afford to “go wild”, have an ESP in each room to coordinate and maintain the sensors there, reporting back to a central ESP/RasPi acting as the “nerve center” of your system with the ESPs as its “satellites”/'ganglia". This would make it near-infinitely customizable and expandable.
Is this cool? Yes. Is it powerful? Yes. Is it a good idea? No.
As others have said before, your best bet is really to go with a prefab center, like a DSC. Now, I’m not about to put you down or anything, especially because I have no idea about your background, but here it goes: security companies have infinitely more experience, resources, manpower, and scale to do this than you do. Their research teams will have already answered questions you don’t even know you need to ask yet, their design teams will have already considered and discarded options you don’t even know are on the table, and their manufacturing departments have already built and assembled the system for less than you could ever hope to pay for the components and time required.
While making such a system is incredibly enticing (I know, this is the third time I’m talking myself out of the same task you’re considering), because it deals with security, my best advice is to avoid rolling your own solution and use what other, much bigger and more advanced, actors have already put together for you. When the excrement impacts the rotor blades (and it will, sooner or later), you’ll be thanking yourself.