OK, so I think I have it figured out.
In AudioConfigESP32.h change these lines to:
// Set output mode
#define ESP32_AUDIO_OUT_MODE PT8211_DAC
// For external I2S output, only: I2S_PINS
#define ESP32_I2S_BCK_PIN 12
#define ESP32_I2S_WS_PIN 0
#define ESP32_I2S_DATA_PIN 2
According to the spec's, it's a NS4168 I2S amp.
In your code, put this at the top:
#include <M5Core2.h>
and in the setup():
M5.begin();
M5.Axp.SetSpkEnable(true);
I will experiment further.
/Staffan