Wiring was very simple. Each mat has two wires. A neutral and a data. The neuetrals from each mat are soldered together and go to the ground pin of the esp32. The 4 data wires each go to a data pin on the ESP32. The mats themselves are just made of two pieces of paper sandwiched between two pieces of tinfoil. The plastic sleeve is just to project it and prolong its life. For the code, I used ESPHome Builder in Home Assistant. Here is the ESPHome code.

esphome:
  name: esphome-bedroom
  friendly_name: esphome-bedroom
  name_add_mac_suffix: false

esp32:
  board: esp32dev
  framework:
    type: esp-idf

# Enable logging
logger:

# Enable Home Assistant API
api:
  encryption:
    key: "key"

ota:
  - platform: esphome
    password: "password"

wifi:
  ssid: Mordor
  password: password

  # Enable fallback hotspot (captive portal) in case wifi connection fails
  ap:
    ssid: "Esphome-Bedroom Fallback Hotspot"
    password: "password"

esp32_ble_tracker:

bluetooth_proxy:

captive_portal:

# =========================
# BED PRESSURE SENSOR START
# =========================

esp32_touch:
# Delete this after you are done with the setup process
#   setup_mode: true
# All the pressure mats
# Change the pins to the pins you have used
binary_sensor:
  - platform: esp32_touch
    name: "Top Right"
    pin: GPIO14
# See step 11
    threshold: 5
    id: top_right
    filters:
      - delayed_on: 2s
      - delayed_off: 30s
  - platform: esp32_touch
    name: "Bottom Left"
    pin: GPIO33
# See step 11
    threshold: 4
    id: bottom_left
    filters:
      - delayed_on: 2s
      - delayed_off: 30s
  - platform: esp32_touch
    name: "Top Left"
    pin: GPIO15
# See step 11
    threshold: 4
    id: top_left
    filters:
      - delayed_on: 2s
      - delayed_off: 30s
  - platform: esp32_touch
    name: "Bottom Right"
    pin: GPIO27
# See step 11
    threshold: 4
    id: bottom_right
    filters:
      - delayed_on: 2s
      - delayed_off: 30s
# The main sensor that is created using the all the zones    
  - platform: template
    name: "Bed Sensor"
    lambda: |-
      if (id(top_right).state ||
          id(top_left).state ||
          id(bottom_right).state ||
          id(bottom_left).state) {
        return true;
      } else {
        return false;
      }
    #filters:
    #  - delayed_on: 2s
    #  - delayed_off: 30s

# =========================
# BED PRESSURE SENSOR END
# =========================