Arduino and esp32

Hi everyone
I am trying to connect my esp32 to my Arduino Uno. Arduino operates at 5v and esp32 at 3.3v is there any way.

connect in which way ? Serial (UART, SPI, I2C, ...) ?

look at voltage adapters

ESP32 pins are 5V tolerant.

UART communication

either use a couple resistor from UNO Tx to ESP32 Rx as a voltage divider (the other way will be fine, 3.3V from ESP32 Tx are not an issue as an input to the UNO Rx ) or use a voltage adapter module if you have one.

(don't forget to also connect the GND)

any particular reason to use a ESP32 and a UNO?
why not move the project onto the ESP32 and dump the UNO?

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