Espírito Santo began his racing career at the age of 14, making his single-seater debut in late 2019 at the F4 Spanish Championship, where he finished eighth in his first race. He returned to Spanish F4 in 2021 with MP Motorsport, but had a difficult season, finishing 17th in the standings. A switch to Teo Martín Motorsport in 2022 saw better results, with Espírito Santo earning podiums at Valencia and other points finishes, securing 12th place overall in the championship. He also represented Portugal in the FIA Motorsport Games, finishing second in the main race.

In 2023, Espírito Santo transitioned to prototype racing, competing in the European Le Mans Series for Team Virage in the LMP3 class. He impressed by securing pole positions at Spa and Algarve, although retirements hindered the team's season, and they finished tenth in the standings. He also raced in the Ultimate Cup Series, securing three victories and a second-place finish in the drivers' championship. At the Road to Le Mans event, he initially crossed the line first but was demoted to fourth due to a penalty.

In 2024, Espírito Santo joined Cool Racing for the Asian Le Mans Series, helping the team win the LMP3 class title. He continued with Cool Racing in the European Le Mans Series, earning multiple pole positions, podiums, and a first-ever endurance race victory at his home track in Algarve. He finished 5th in the championship with one win, three pole positions, and three podiums. Espírito Santo also made a cameo appearance in the Ultimate Cup Series, achieving pole position but finishing 12th in the race.