Thanks @koying, I thought so too, so originally I had tried it with 5v, then found a spec sheet that said 3.3v.
I disconnected the sensor from the pin and it still reads that motion is detected, even with nothing connected to it. Based on that I think my issue might be different than originally expected, but I don’t know where to go from here.
My ESP32 also always detects even when noone is home. i only just discovered when troubleshooting that when i put the code on a esp8266 board it worked without issues.
i believe there is something happening with the ESP32 devices. as i tried 4 different esp32 boards and all the same result.