Cloud services in some sense act as webservers, so even your mobile phone acting as internet router would do the job, at least whenever you are nearby to the ESP32. What you need at this time is to define general specifications of the whole workflow, such as client/server relationship and timmings; for instance, some cloud brokers have limitation on the allowed inverval between consecutive issued messages in the Free version, Thingspeak for example, 15s if I'm not wrong.