If so, you should seriously check out [0xjmux]’s ESP-PROG-Adapter project, because [0xjmux] has put a lot of love and care into making your ESP32 hardware interfacing a breeze.

ESP-FLY: The Smallest ESP32 Drone You Can Build! Build the ESP-FLY, a tiny, phone-controlled ESP32 pocket drone powerful enough to fly indoors & outdoors! Meet the ESP-FLY, a micro quadcopter built ...