Absolutely. Here’s a schematic connection plan for your MPU-6050 6 DOF Sensor Module and L298N around the existing ESP32-S3 terminal breakout in your project.

Your current plan covers only the logic/control wiring. A complete motor schematic will usually also need:

If you want, I can next turn this into a complete schematic block list with:

I can help define that, but I can’t directly change this current published part from here because you don’t have edit access to it, and the right move is to work in your own copy instead. When a user doesn’t have edit access, the recommended flow is to use a new project or a fork/clone link with a pre-filled prompt

Also, one important constraint: for a part project, the terminal count must match the datasheet exactly, and for parts with more than 20 pins, the symbol should usually be split into sub-symbols rather than arbitrarily changing the count. The guidance explicitly says never guess pin numbers, match pin count exactly, and use sub-symbol grouping for complex parts

So if by “make it 21 pins both sides” you mean:

those are very different.

For a complex IC-style part, the recommended grouping is:

If you want, use this fork link to make your own editable copy of the current part and continue there:

If you want, I can next help you with one of these: