Only two resistors are required, one for the SDA and one for the SCL line, close to the ESP preferably though unless you are using very long cables this isn’t critical.
Try to keep the lines as short as possible. Connect those two lines to every device including the ESP. You can do this by hopping the two lines from board to board (easy) or by connecting a star network where each device connects back to the two resistors at the ESP (can get messy with lots of devices).