Simple code seems to restart without any problems.
void setup() {
Serial.begin(115200);
delay(1000);
pinMode(LED_BUILTIN, OUTPUT);
}
void loop() {
for(int i = 0; i < 10; i++) {
digitalWrite(LED_BUILTIN, LOW);
delay(200);
digitalWrite(LED_BUILTIN, HIGH);
delay(200);
}
Serial.println("Restarting now...");
delay(1000);
ESP.restart();
}