Man pages matching name mlx5dv_flow_action_esp in section 3:

mlx5dv_flow_action_esp.3.en	debian 10 / libibverbs-dev
mlx5dv_flow_action_esp.3.en	debian 11 / libibverbs-dev
mlx5dv_flow_action_esp.3.en	debian 12 / libibverbs-dev