A how-to on using an I2C LCD display with the ESP32 using Arduino IDE from Random Nerd Tutorials:
This tutorial shows how to use the I2C LCD (Liquid Crystal Display) with the ESP32 using Arduino IDE. We’ll show you how to wire the display, install the library and try sample code to write text on the LCD: static text, and scroll long messages. You can also use this guide with the ESP8266.
See the full post at randomnerdtutorials.com.