A Raspberry Pi with PiTFT makes for a perfect ESP32 tester/programmer, we just have it run esptool and program in a self-test sketch to the ESP32, then read the output from over the USB serial connection.
The self test checks all the pins are connected properly – not floating, not shorted – as well as the power supply voltages and battery charger functionality. Then once it passes test we program in CircuitPython 6! – video.
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