Before opening the Arduino software, wire up the Arduino according to the circuits page using the 8MHz minimalist breadboard circuit but with a 10k pull-up resistor on the reset pin (physical pin 1).
If you use the Arduino IDE to program the ESP32, you might be interested in [Andreas Spiess’] latest video (see below). In it, he shows an example of using all three ESP32 UARTs from an Arduino ...
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