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why , the s3 has inbuild jtag from the usb https://docs.espressif.com/projects/esp-idf/en/latest/esp32s3/api-guides/jtag-debugging/configure-builtin-jtag.html and I see few more with micropython (but still some problems I think https://github.com/micropython/micropython/issues/8683)
I agree, there's nothing like making your own board. My open-source open-hardware ESP32 project is here: https://github.com/frankcohen/ReflectionsOS. It's a round 34 mm double sided board for a wrist watch project. Hoping to do what you did next week, post the schematics for feedback and quality improvements. Thanks for the inspiration. -Frank