@auroraluz
I'm sorry for the late response. I had some life issues and then got Covid.
ESTA is "Electronic System for Travel Authorization.". It's short for a visa waiver. Some nationalities are eligible for it. Usually citizens of countries like Canada, Europe, Australia, New Zeland, Great Britain. It may not apply in your case.
CRBA "Consular Report of Birth Abroad" is when the child is born to US Citizens and the consulate can register the child as a US Citizen. It has strict criteria. My children were not eligible for this, even though I am a US Citizen. This is why I did N-600K.
The regulation in the PDF was sent to me from an American lawyer with understanding of how the Dept of State works. The consular official should be able to review what is in the PDF and understand it. It's a Dept of State regulation, and the structure should have some familiarity to a senior consular official.
Consular officials all work for the Dept of State.
This is the key part.
If you have the USCIS appointment letter AND proof that the child intends to return to a residence abroad after naturalization then they should issue a B-2 visa. The wording says "may issue a B-2 visa" so it's still up to their judgement. However, the PDF should help them to make that decision.