Yes, in some situations especially if you marry a U.S. citizen you may still be eligible to adjust your status, even after overstaying ESTA.

If you marry a U.S. citizen and entered the U.S. lawfully through ESTA, you may be able to adjust your status from within the U.S., even after your 90 days expire.

Overstaying ESTA is a serious violation, and it cannot be extended or converted into another status. But marriage to a U.S. citizen is a unique exception.