The fix is easy, you just need to wrap the contents of src/circular_queue/_make_unique.h in a conditional compile:
#if __cplusplus < 201402L
// ... contents of file ...
#endif //__cplusplus < 201402L
Unless I'm missing something subtle? I'm running version 2.2.1 of the Arduino IDE and v 3.3.2 of the esp32 boards manager package. Version 81.0 of the ESPSoftwareSerial library.