I have a similar issue reading the data from an accelerometer. I try to change baud, buffer and do it with a separate task but nothing. Following that post for solutions

Hi ESP_Sprite, because I try to go up to 250 deterministic cycles, but seems that over 100hz the freertos has some problems. Can you explain me why that?

Hi, based on my experience with esp32 it is not possible to accurately read an encoder as determinism is not accurate.