I've made Eagle library for ESP32-PICO-D4 and enjoying designing. Here I've uploaded the file which I've made (modified) and used for PCB design.

Eagle library is now uploaded to my GitHub account:
https://github.com/kodera2t/Motor_driver_sample
in which cypresspsoc_0.30.lbr contains ESP32-PICO-D4 footprint by the name of "CY8C29666_QFN48" This is very quick made and just modified from original PSoC library so please rename the file name  if you have already used one.

One tindie buyer requested me to share Eagle library and actually I have no reason to refuse!! Enjoy ESP32-PICO-D4!!