simple esp script
local function addESP(player)
    if player == game.Players.LocalPlayer then return end

    local function applyHighlight(character)
        if character:FindFirstChild("Highlight") then return end

        local esp = Instance.new("Highlight")
        esp.Name = "Highlight"
        esp.FillColor = Color3.new(1, 0, 0)
        esp.OutlineColor = Color3.new(1, 1, 1)
        esp.FillTransparency = 0.5
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        esp.OutlineTransparency = 0
        esp.Parent = character
    end

    if player.Character then
        applyHighlight(player.Character)
    end


    player.CharacterAdded:Connect(function(character)
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        applyHighlight(character)
    end)
end


for _, player in ipairs(game.Players:GetPlayers()) do
    addESP(player)
end


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game.Players.PlayerAdded:Connect(function(player)
    addESP(player)
end)

simple esp script