In JTAG Debugging the ESP32 with FT2232 and OpenOCD I have used a FTDI FT2232 breakout board to JTAG debug with OpenOCD. With an adapter board on top of the TDI FT2232 the wiring is much easier and simpler to use.
The wiring includes a JTAG header with pull-up and pull-down plus an UART header:
See the post for additional details on this build.
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