Yes, always nice to see more languages!
Esperanto is supported by the language filters and post language settings on Mastodon (more info at https://fedi.tips/setting-your-language-preferences-on-mastodon-and-filtering-out-posts-in-other-languages/). Esperanto's language code is EO.
Someone posted some Esperanto language videos on PeerTube a while back at https://share.tube/a/gxabbo/videos. I don't know if they have plans to post more, but you can follow them at @gxabbo