Everything get fu**ed up when both physical switch on/off at same time

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Try with relay disconnected. Relay can produce spikes which can reset ESP module.

When you say a 2ch relay I assume you mean a relay driver board? Is it opto-isolated or just switching via a transistor? What current draw is each input of the relay? What happens if you replace the relay boards with a couple of LEDs? Does it still fail then?

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Please stop filing a new thread about the same issue.