Issue with Simultaneous Activation of Multiple Relays in Zephyr RTOS on ESP32

define TAP1_PIN 25
define TAP2_PIN 26

void main(void) {
    gpio_pin_configure(relay_device, TAP1_PIN, GPIO_OUTPUT);
    gpio_pin_configure(relay_device, TAP2_PIN, GPIO_OUTPUT);

    while (1) {
        if (gpio_pin_get(pir_device, PIR_SENSOR_PIN)) {
            gpio_pin_set(relay_device, TAP1_PIN, 1);
            gpio_pin_set(relay_device, TAP2_PIN, 1);
            k_sleep(K_SECONDS(5)); // Taps run for 5 seconds
            gpio_pin_set(relay_device, TAP1_PIN, 0);
            gpio_pin_set(relay_device, TAP2_PIN, 0);
        }
        k_sleep(K_MSEC(500));
    }
}