Logic Converter driving logic level Mosfet Gate
It might be worth looking into isolated low-side gate drivers, which effectively accomplish what you want to do, and can provide decent protection to your ESP32 (against transient voltages / part damage on the FET or driver). A bunch of options come up if you look up “gate-driver” on digikey / mouser, and you can go through your options there. Since you aren’t doing a half bridge, you can get away with just using “low-side” drivers which will save you a fair amount of money. Isolation isn’t a necessity, but is definitely much safer for your MCU.
Also, with respect to the circuit you drew, don’t try to generate your “HV” voltage like that. Those drivers are generally meant to drive a lot of current to charge the FET gate up quickly, and the divider will have to much resistance which won’t allow the part to turn on very fast. It might still work, but don’t expect it to turn on super fast.
Side note: Your MOSFET is drawn as a P-Channel, and the diode isn’t drawn super precisely, but just make sure that the cathode is definitely connected to the 12V rail.