ESP32 trick: Use your microSD jack as a JTAG connector by @cibomahto
ESP32 trick: Use your microSD jack as a JTAG connector! The ESP32 JTAG pins are all shared with the SDMMC bus, so you can use a microSD breakout board to connect them to your JTAG debugging tool.
You could probably use this Micro SD PCB extender if you don’t want to make a custom PCB adapter.