I think you have to be brave to launch one on an E, but I feel the same way about other E designs like the Cherokee E and the Hi-FlierXL. However I did see a HiFlier XL launched on an E and it was recovered.
I have an ESAM 85 and fly it on B engines on real small fields, and C engines on larger fields. The HiFlier XL is not really all that much larger than the ESAM but just enough that it really needs a D if you want a reasonable flight. So I think your ESAM would work well on a D, if you really want to use E engines you might have to adjust the fins a little bit more or add a bit of nose weight.
I’ve flown my Hi-Flier XL on E motors several times. At LDRS I even put a booster on it and sent it on an E12-0/E12-8 stack. Both pieces recovered, although I’m going to make some adjustments before flying that configuration again.
Estes E motors burn for a longer time and produce relatively low thrust, meaning that they need a pretty light airframe to lift off safely and will inevitably go pretty high. A heavier rocket can take something like one of the new Q-Jet E35Ws and stay lower.
That said, I think the OP would be smart to start on the 18mm motors it was originally designed for. Build it with the 24mm mount and adapt down, start on a B4. The packaging recommends a -4, my OR simulation says it’s closer to a -2.
(Actually my simulations say an A8-3 will deploy safely, although apogee is under 100 ft.)
Fly the field, see what kind of impulse you can install and still consistently achieve safe, on-field recovery. If you get to the C range, you’re ready for 24mm (although there are some neat C and D options in 18mm).
After that you’re leaving the LPR realm for MPR. You can really get crazy with even the 24mm motors in that range, so I’ll just leave my recommendation there. You’ve got plenty to explore up to D power.