My ESP-WROOM-32 board has 2 spi slave devices MPU-9250 and MS5611. I've troubled with DMA on spi. It looks issue 598 which happens when DMA is used with the half-duplex mode and the command/address phases are disabled. With enabling command phase, the problem went away.

@@ -105,12 +105,12 @@ static esp_err_t baro_write(uint8_t reg, uint8_t val)
     esp_err_t ret;
     static spi_transaction_t trans;
     memset(&trans, 0, sizeof(spi_transaction_t));
-    trans.length=16;
-    trans.tx_data[0] = reg & 0x7f;
-    trans.tx_data[1] = val;
-    trans.flags=SPI_TRANS_USE_TXDATA;
+    trans.length = 8;
+    trans.command = reg & 0x7f;
+    trans.tx_data[0] = val;
+    trans.flags = SPI_TRANS_USE_TXDATA;
     ...