Your Flipper Zero will need third party firmware to use the ESP32 and NRF24 modules. The three main third party firmware are:

These firmware each have the required apps for the ESP32 and NRF24 modules. They also include extra apps for Sub-GHz. Clicking a link above will take you to their GitHub page which will have install guides to help you install on your Flipper Zero.

Once installed, you can find the ESP32 and NRF24 apps in the Apps section of your Flipper Zero.