How to read multiple I2C sensor (MLX90393) data on ESP32?
This is discussed at the beginning of section 8.4 in the linked datasheet.

Basically, you need to use two pins on the MLX90393 to set the two least significant address bits of the I2C interface. Wire your four devices so that they have four different values for these two bits/pins. As a result, the four devices will have unique addresses on the I2C bus.

In your code, change the slave address for the I2C commands in order to talk to the different devices.