@masukomi - D4 on the ESP32 looks perfect, it should be your target. GND similarly. - the pins on the sensor feel like they could use a little bit more tin - 3V3 in the board could use a touch-up (no more tin, just touching what it's already there with the iron for it to shape and bond better) - I don't see any flux on your workspace, it makes things a lot easier
also, if you want to just practice, you can get some stripboards and some cheap components (capacitors, resistors, etc)
@masukomi oh this is literally your first time soldering?
then yes, you'd probably thank practicing with a stripboard, if anything just to get used to how the tin flows, or how to fix the different fuck-ups that always happen (too much tin, too little tin, too cold iron, etc)