Customizing the boot image - sorinbotirla/esp32-marauder-ESP32-3248S035C GitHub Wiki
Go to this page and upload your image https://tomeko.net/online_tools/file_to_hex.php?lang=en
Get the hex code generated and replace the values from
static const uint8_t MarauderTitle[] PROGMEM = {VALUES}
in Assets.h
Compile and you're done.
More details here