@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 I have a liquid one that has a small "brush" in the lid (kinda like a nail polish bottle). you put it in the pieces you want to solder, in the spots to solder. it makes tin flow a lot smoother.
@masukomi oh btw another thing, although this is not really about the soldering part: from what I've read, soldering cables directly to PCBs makes for fragile joints. usually it's preferable to just solder headers to the PCBs and then connect them with jumper wires (plus that way you can swap parts easily)