Yes, the ESP32 has Bluetooth support and there is an open source library to read the inputs from a PS4 controller. So I just wrote a small program to connect to the controller and send the right commands to the motors.
I think "traditional" RC people use a separate receiver module that links to their remote instead of doing this in software.
I've never looked into RC builds before - how are they controlled? Do you connect the PS4 controller directly to the esp?