JTAG Debugging
The Unexpected Maker ESP32-S3 boards all support USB Serial JTAG debugging. USB Serial JTAG debugging is just like using JTAG header pins, but via the USB interface instead, so no wiring is needed, and no external HW probe like a J-LINK or ESP-Prog is needed. Any ESP32-S3 board that exposes native USB supports USB Serial JTAG.