Hi.
I’m using this audio library:
https://github.com/schreibfaul1/ESP32-audioI2S
Also, I have tested the same code on the Seeed XIAO esp32-s3 and it works very well (not a single glitch on a 44khz stream) though instead of D0,D1,D2 its D1,D2,D3. They seem to be hard-wired on this board also.
By the way, I had problems with the url for the boards in the “Getting started” info - it didn’t seem to have the right entries so I stuck with this one:
https://raw.githubusercontent.com/espressif/arduino-esp32/gh-pages/package_esp32_dev_index.json
from previous installation work I’d done (note the “dev” bit).
Hope it works out for you.