The stock ESC will be fine but as Curt says you will want another RC system. It’s possible to operate with 3 channels but you really need more for convenience. Arm/Disarm, tuning functions, etc. I use 6 channels with my Rover.
Do you have any advice for the wiring (ex. motor is connected to the ESC that is connected to the receiver or receiver is independently connected to the Pixhawk)?
ESC is connected to pixhawk. Rx is connected to pixhawk.
A simple connection is to use a spectrum satellite RX. You get the benefit is all TX channels with a simple satellite rx. Plugs into spkt port.