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Have you checked your config in menuconfig?, if you want greater throughput try to increase ESP32's TCP window size and also tune other TCP and WiFi options, this example have values tuned for performance and high throughput. In my own tests I've got about ~10Mbps with wifi using TCP and ~11Mbps using UDP (also using wifi), with ethernet I've got about 3 times that value with lower latency.
You mention mbedtls, but for an example I was able to find that wolfssl lists some benchmarks and notice that under hardware acceleration, AES CBC gives OK performance while AES GCM looks pretty bad.