Holding priority, activate a creature you control that has a +1/+1 counter on it using Kirol's ability by tapping two creatures you control, copying Esika's Chariot's trigger.
Resolve the copy of Esika's Chariot's trigger, creating two 2/2 Cat creature tokens, which each enter with a +1/+1 counter on them due to Master Biomancer.
Repeat from step 3, using one of the Cats to activate Kirol's ability, and then tapping both Cats.
This clever loop kicks into gear by leveraging Agatha's Soul Cauldron to grant Kirol, Attentive First-Year's tap-activated copying ability to any creature bearing a +1/+1 counter. As Esika's Chariot enters the battlefield, you copy its initial token-creation trigger, allowing Master Biomancer to ensure that every newly minted token arrives packing its own empowering +1/+1 counter. Because those fresh tokens now carry counters, they can immediately help crew or tap to fuel subsequent copies via the Cauldron-granted ability, compounding into an endless cascade of Cats and enter-the-battlefield triggers.