So we have been developing a module for the ESP32 above that we can use. Its based on the ESP WROOM32. The design are made in KICAD. The module is removable from the programmer and can be mounted on a product without soldering which is often useful for testing without having a dedicated programming section per product which increases product cost, for something that will be used once.
There is also an associated minimalistic programmer with a standard JTAG 20 pin header where one can connect a JTAG adapter for debugging. Design specifically contains no surface mount parts so should be easy to assemble without importation. The programmer can also be used as a development board.
The designs are in their initial versions but work well. Details shall be released as the project matures and bugs eliminated.