I am using the IDF MQTT5 example project, and have built it unmodified and can connect to Mosquito

I am new to using MQTT and I am developing some devices that I would like to control and monitor from a server using MQTT. I was thinking about creating a topic for each device to control them, or maybe creating a single topic where all devices use a different ID and using the JSON format to send the data and the ID to identify which device I am sending the data to, but neither idea convinces me. Is there someone with more experience who can help me? In case you want to know, the devices I am designing use ESP32 and I am programming them with Arduino IDE.