Circuit Troubleshooting for Servo Motor

need help with troubleshooting circuit
I have a servo motor and its corresponding motor driver

connection details

supply power to the driver using psu (power supply unit)
psu 24v+ --> driver+
psu GND --> GND
----
from that driver, supply power to the actual motor
motor red wire --> driver motor +
motor black wire --> driver motor -
---
from that same driver supply power to the motor's encoder

driver's encoder's power +5ve --> motor's encoder power
driver's encoder GND --> motor's encoder GND

connect the encoder's output from motor to BOTH esp32 and driver
motor's encoder A --> breadboard-X
breadboard-X --> driver's encoder A
breadboard-X --> esp32 pin 21

motor's encoder B --> breadboard-Y
breadboard-Y --> driver's encoder B
breadboard-Y --> esp32 pin 19

ground all of psu-, esp32's GND, motor's encoder's GND, driver's encoder's GND to the same reference

the problem I am seeing is when I power on the PSU, esp32 receives signals as if the motor was running, but in reality it was not running. I need help with troubleshooting it