You need to have different subnet for different VLAN, you can not have same IP address network.
Example : 10.1.1.x/24 for VLAN10 and 10.1.2.x/24 for VLAN 20
you can also have same over lap IP address in different network ( but you need to do NAT to communicate each other)
in your case you can extend the VLAN 10 use all same IP address range. ( bringe the PC2 and PC4 to same VLAN Access Group)
Between ESW1 and ESW2 you always need to be use Trunk and allow VLAN 10 and 20, it can not be Access port if you like to pass more VLAN across Switches.