I receive many questions in a week on the correct setup of the Arduino Environment to program the ESP32 development board.   At this point it doesn’t seem to matter which board you select and I always use “Esp32 Dev Module” as my selection.  The rest of the setting can be seen in the screen capture below.

ESP32 Arduino Setup

The upload speed is fast and it works just like an Arduino board.  Press the upload button and the code magically appears in the module memory.  No buttons to press, just works.