Great idea. Short version: the ESP32 can expose many touch channels, but raw capacitive touch does not travel well over wires. Break out several local touch pads/connectors on the master, and if you need remote touch at slaves, use a small touch-to-digital converter locally and return a clean digital signal to the master.
Want me to add six TOUCHx + GND through-hole pairs (with series resistors and ESD footprints) and assign them to GPIO33, 32, 27, 14, 13, 4 on
U3? If yes, also tell me: