I have an ESP32-S3 WROOM-1 that could see available Wi-Fi networks, including my own, but was unable to connect to my Wi-Fi. I’ve found a possible solution to the problem. If it's mounted on a breadboard, it seems like the metal in the breadboard interferes with the connection. So either you can remove it from the breadboard, or — and this might sound strange — when it's trying to connect, touch the CPU cover with your finger. I assume your body acts as an antenna, which allows it to connect to your Wi-Fi. Once it's connected, you can remove your finger, and it will stay connected to the Wi-Fi.