Okay that’s good - the arduino connected at 57600 matched between both devices. Good start

ensuring the tx and rx are connected correctly is also mandatory. If you’re unsure of the pinouts, find a reliable source to check. The tx must be connected to rx. The rx must be connected to tx. I sound like a broken record but it’s absolutely imperative

lastly, you cannot power the Arduino off usb with the connection to the esp32. If you power it off usb, you will be using the built in serial for debugging and not ARC connection through the esp32